Ros2 Turtlebot3 pose topic subscriber isn't triggered. [Python]
Hello,
I'm trying to catch turtlebot position so I can plot its trajectory.
More precisely, I'm trying to build and run a ros2 subscriber on "/Turtle_2/pose", where "/Turtle_2" is my turtlebot namespace. Using this subscriber, I want to store the turtlebot position in a memory to plot all of them. But as a first step, I wan to print("Hello") when the subscriber is triggered by a new message published on this "/Turtle_2/pose" topic, which is not.
For confidentiality reason, I cannot give you more code than my subscriber. I'm sry about that.
NB: - ros2 topic list contain the topic I'm looking for. - ros2 topic echo /Turtle_2/pose plot indeed real time information about my turtle position. - Running the subscriber don't plot anything (no trigger message nor error message) - OS ubuntu 20.04.2 LTS ; Gnome 3.36.8 - Ros2 Foxy installed - Subscriber code :
import rclpy
from rclpy.node import Node
from nav_msgs.msg import Odometry
from std_msgs.msg import String
from geometry_msgs.msg import PoseStamped
class MinimalSubscriber(Node):
def __init__(self):
super().__init__('minimal_subscriber')
self.subscription = self.create_subscription(
PoseStamped,
'/Turtle_2/pose',
self.listener_callback,
10)
def listener_callback(self, msg):
self.get_logger().info('HELLO')
def main(args=None):
rclpy.init(args=args)
minimal_subscriber = MinimalSubscriber()
rclpy.spin(minimal_subscriber)
# Destroy the node explicitly
# (optional - otherwise it will be done automatically
# when the garbage collector destroys the node object)
minimal_subscriber.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()
- This subscriber work on other topics like "Turtle_2/odom"
result of ros2 topic info -v /Turtle_2/pose:
Type: geometry_msgs/msg/PoseStamped
Publisher count: 1
Node name: natnet_client Node namespace: /Turtle_2 Topic type: geometry_msgs/msg/PoseStamped Endpoint type: PUBLISHER GID: 01.0f.69.56.05.b0.02.00.01.00.00.00.00.00.12.03.00.00.00.00.00.00.00.00 QoS profile: Reliability: RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE Lifespan: 2147483651294967295 nanoseconds Deadline: 2147483651294967295 nanoseconds Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC Liveliness lease duration: 2147483651294967295 nanoseconds
Subscription count: 0
Any idea will be appreciated, thanks in advance.
