因為著急做出東西來糊弄人，所以ROS的wiki看得馬馬虎虎一目十行，今天有些時間，仔細讀了一下tutorials，對ROS有了一種恍然大明白的感覺，記錄一下,方便以後操作，懶得再翻手冊了：
1，首先要建一個工作空間，這個先不表了
2，其次要建立一個package，一個完整的程式包是這樣的my_package/
CMakeLists.txt
package.xml
。這個程式包的路徑注意下，在cd ~/dashgo_ws/src中建立。自不自定義你的程式包就看要求了，理解成描述檔案就行。
3，編譯程式包，首先source一下，source /opt/ros/groovy/setup.bash。在cd ~/catkin_ws/下執行catkin_make來編譯一下。
4，用python寫訊息釋出器
開啟檔案包：roscd beginner_tutorials
建立scripts
m

開啟訂閱器
cd/catkinws source ./devel/setup.bash
最後
rosrun beginner_tutorials listener.py

看一下程式碼吧
listener.py

  1 #!/usr/bin/env python
   2 import rospy
   3 from std_msgs.msg import String
   4 #回撥格式 'listener_id heard hello world' 
   5 def callback(data):
   6     rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)
   7     
   8 def listener():
   9 
  10     # In ROS, nodes are uniquely named. If two nodes with the same
 

  11     # node are launched, the previous one is kicked off. The
  12     # anonymous=True flag means that rospy will choose a unique
  13     # name for our 'listener' node so that multiple listeners can
  14     # run simultaneously.
  15     rospy.init_node('listener', anonymous=True)
  16 
  17     rospy.Subscriber("chatter", String, callback)
  18 
  19     # spin() simply keeps python from exiting until this node is stopped
  20     rospy.spin()
  21 
  22 if __name__ == '__main__':
  23     listener()

沒啥東西，就四個rospy庫裡面的函式（待補充）
rospy.loginfo
rospy.init_node
rospy.Subscriber
rospy.spin()

talker.py

   1 #!/usr/bin/env python
   2 # license removed for brevity
   3 import rospy
   4 from std_msgs.msg import String
   5 
   6 def talker():
   7     pub = rospy.Publisher('chatter', String, queue_size=10)
   8     rospy.init_node('talker', anonymous=True)
   9     rate = rospy.Rate(10) # 10hz
  10     while not rospy.is_shutdown():
  11         hello_str = "hello world %s" % rospy.get_time()
  12         rospy.loginfo(hello_str)
  13         pub.publish(hello_str)
  14         rate.sleep()
  15 
  16 if __name__ == '__main__':
  17     try:
  18         talker()
  19     except rospy.ROSInterruptException:
  20         pass

還是很easy，talker裡面還加了個異常，真是嚴謹。總結完啦，下一篇謝謝ROspy吧。再次感慨一句，python五花八門的庫真是新年吧多啊！！