目的
在ros2中,使用redis作爲實時數據共享,減少各個節點中的數據交互,從而減少系統開銷。
功能
1、每一秒發佈一次topic
2、每一秒寫一次數據庫,並調用
環境準備
1、已經安裝有ros2的ubuntu虛擬機
2、安裝python開發環境
3、redis已經安裝完成,如果沒有完成請參照:內存數據庫redis,pyhon操作-環境準備和簡單示例
程序示例
import rclpy
import os
from rclpy.node import Node
from std_msgs.msg import String
import pathlib
from redis import ConnectionPool
import redis
class robot_start(Node):
def __init__(self):
super().__init__('talker',namespace='test')
self.i = 0
self.pub = self.create_publisher(String, 'chatter')
self.timer = self.create_timer(1.0, self.timer_callback)
self.redis_conn = redis.Redis(host='localhost', port=6379, decode_responses=True)
self.redis_conn.set('name', 'aaa')
self.count =1
def timer_callback(self):
msg = String()
msg.data = 'Hello World: {0}'.format(self.i)
self.i += 1
self.get_logger().info('Publishing: "{0}"'.format(msg.data))
self.pub.publish(msg)
self.count += 1
self.redis_conn.set('name', self.count)
self.get_logger().info(self.redis_conn['name'])
self.get_logger().info(self.redis_conn.get('name'))
def main(args=None):
rclpy.init(args=args)
robotstart = robot_start()
rclpy.spin(robotstart)
robotstart.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
# Runs a talker node when this script is run directly (not through an entrypoint)
main()
結果
[INFO] [test.talker]: Publishing: "Hello World: 0"
[INFO] [test.talker]: 2
[INFO] [test.talker]: 2
[INFO] [test.talker]: Publishing: "Hello World: 1"
[INFO] [test.talker]: 3
[INFO] [test.talker]: 3
[INFO] [test.talker]: Publishing: "Hello World: 2"
[INFO] [test.talker]: 4
[INFO] [test.talker]: 4
[INFO] [test.talker]: Publishing: "Hello World: 3"
[INFO] [test.talker]: 5
[INFO] [test.talker]: 5
[INFO] [test.talker]: Publishing: "Hello World: 4"
[INFO] [test.talker]: 6
[INFO] [test.talker]: 6
[INFO] [test.talker]: Publishing: "Hello World: 5"
[INFO] [test.talker]: 7
[INFO] [test.talker]: 7