实例1: onStart

import org.ros.node.topic.Publisher; //导入依赖的package包/类@Overridepublic synchronized void onStart(final ConnectedNode connectedNode) {    m_node = connectedNode;    m_cmdPublisher = connectedNode.newPublisher("command", CommandStamped._TYPE);    m_cmdPublisher.addListener(new DefaultPublisherListener<CommandStamped>() {        @Override        public void onNewSubscriber(Publisher<CommandStamped> publisher, SubscriberIdentifier subscriberIdentifier) {            while (!m_queue.isEmpty()) {                CommandStamped cmd = m_queue.poll();                publisher.publish(cmd);            }            synchronized(RobotNodeMain.this) {                m_ready = true;            }        }    });    Subscriber<AckStamped> subscriber = connectedNode.newSubscriber("mgt/ack", AckStamped._TYPE);    subscriber.addMessageListener(this);    Subscriber<EkfState> ekfSub = connectedNode.newSubscriber("gnc/ekf", EkfState._TYPE);    ekfSub.addMessageListener(new MessageListener<EkfState>() {        @Override        public void onNewMessage(final EkfState ekfState) {            synchronized(m_kinematics_lock) {                m_kinematics = new DefaultKinematics(ekfState);            }        }    });} 

实例2: onStart

import org.ros.node.topic.Publisher; //导入依赖的package包/类@Overridepublic void onStart(final ConnectedNode connectedNode) {  // This CancellableLoop will be canceled automatically when the node shuts  // down.  final Publisher<Message> publisher = connectedNode.newPublisher(nodeName, publishType);  connectedNode.executeCancellableLoop(new CancellableLoop() {    @Override    protected void loop() throws InterruptedException {      semaphore.acquire();      publishMe.ifPresent(publishAction -> {        final Message message = publisher.newMessage();        publishAction.convert(message, connectedNode.getTopicMessageFactory());        publisher.publish(message);      });    }  });} 

实例3: onStart

import org.ros.node.topic.Publisher; //导入依赖的package包/类@Overridepublic void onStart(ConnectedNode connectedNode) {    final Publisher<std_msgs.String> publisher = connectedNode.newPublisher(GraphName.of("time"), std_msgs.String._TYPE);    final CancellableLoop loop = new CancellableLoop() {        @Override        protected void loop() throws InterruptedException {            // retrieve current system time            String time = new SimpleDateFormat("HH:mm:ss").format(new Date());            Log.i(TAG, "publishing the current time: " + time);            // create and publish a simple string message            std_msgs.String str = publisher.newMessage();            str.setData("The current time is: " + time);            publisher.publish(str);            // go to sleep for one second            Thread.sleep(1000);        }    };    connectedNode.executeCancellableLoop(loop);} 

实例4: onStart

import org.ros.node.topic.Publisher; //导入依赖的package包/类@Overridepublic void onStart(ConnectedNode connectedNode) {    final Publisher<DiagnosticArray> batteryPublisher = connectedNode.newPublisher(TOPIC_NAME, DiagnosticArray._TYPE);    final DiagnosticArray diagnosticArray = batteryPublisher.newMessage();    final DiagnosticStatus deviceBattery = mMessageFactory.newFromType(DiagnosticStatus._TYPE);    deviceBattery.setName("/Power System/Laptop Battery");    KeyValue deviceKeyValueCapacity = mMessageFactory.newFromType(KeyValue._TYPE);    deviceKeyValueCapacity.setKey("Capacity (Ah)");    deviceKeyValueCapacity.setValue("100.0");    final KeyValue deviceKeyValueCharge = mMessageFactory.newFromType(KeyValue._TYPE);    deviceKeyValueCharge.setKey("Charge (Ah)");    deviceBattery.setValues(Arrays.asList(deviceKeyValueCapacity, deviceKeyValueCharge));    diagnosticArray.setStatus(Arrays.asList(deviceBattery));    connectedNode.executeCancellableLoop(new CancellableLoop() {        @Override        protected void loop() throws InterruptedException {            diagnosticArray.getHeader().setStamp(Time.fromMillis(System.currentTimeMillis()));            double deviceBatteryPercentage = mBatteryLevel.get();            if (deviceBatteryPercentage > 0) {                deviceKeyValueCharge.setValue(Double.toString(deviceBatteryPercentage));            }            batteryPublisher.publish(diagnosticArray);            Thread.sleep(1000);        }    });} 

实例5: onStart

import org.ros.node.topic.Publisher; //导入依赖的package包/类@Overridepublic void onStart(ConnectedNode connectedNode) {    final Publisher<DiagnosticArray> batteryPublisher = connectedNode.newPublisher(TOPIC_NAME, DiagnosticArray._TYPE);    final DiagnosticArray diagnosticArray = batteryPublisher.newMessage();    final DiagnosticStatus robotBattery = mMessageFactory.newFromType(DiagnosticStatus._TYPE);    robotBattery.setName("/Power System/Battery");    final KeyValue robotKeyValueCapacity = mMessageFactory.newFromType(KeyValue._TYPE);    robotKeyValueCapacity.setKey("Capacity (Ah)");    robotKeyValueCapacity.setValue("100.0");    final KeyValue robotKeyValueCharge = mMessageFactory.newFromType(KeyValue._TYPE);    robotKeyValueCharge.setKey("Charge (Ah)");    robotBattery.setValues(Arrays.asList(robotKeyValueCapacity, robotKeyValueCharge));    diagnosticArray.setStatus(Arrays.asList(robotBattery));    connectedNode.executeCancellableLoop(new CancellableLoop() {        @Override        protected void loop() throws InterruptedException {            diagnosticArray.getHeader().setStamp(Time.fromMillis(System.currentTimeMillis()));            double baseBatteryVoltage = UnsignedBytes.toInt(mBaseDevice.getBaseStatus().getBattery()) * 0.1;            double baseBatteryPercentage =                    (baseBatteryVoltage - BASE_MIN_VOLTAGE) /                            (BASE_MAX_VOLTAGE - BASE_MIN_VOLTAGE) * 100.0;            robotKeyValueCharge.setValue(Double.toString(baseBatteryPercentage));            batteryPublisher.publish(diagnosticArray);            Thread.sleep(1000);        }    });}