spirems 0.2.2

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SpireMS

介绍

Spire消息系统，一个类似ROS的轻量化消息发布、订阅软件包，支持图像、雷达等传感器话题。

安装教程

pip install spirems

使用说明

1. 启动Server

from spirems import Server
server = Server()
server.listen()

2. 发布话题

from spirems import Publisher, get_all_msg_types
pub = Publisher('/topic/hello', 'std_msgs::String')
pub.publish()
msg = get_all_msg_types()['std_msgs::String'].copy()
msg['data'] = 'hello world!'
pub.publish(msg)

3. 订阅话题

from spirems import Subscriber

def callback_f(msg):
    print(msg['data'])

sub = Subscriber('/topic/hello', 'std_msgs::String', callback_f)

参与贡献

1. Fork 本仓库
2. 新建 Feat_xxx 分支
3. 提交代码
4. 新建 Pull Request