Mirekgoebel am 29. Januar 2026 um 15:58 Uhr

2026-01-29T15:58:57Z

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	[[Overview_and_the_most_important_commands_of_ROS2\|zurück zum Hauptartikel]]		[[Overview_and_the_most_important_commands_of_ROS2\|zurück zum Hauptartikel]]

			<source line lang="python" style="font-size:small">#!/usr/bin/env python # this specifies the interpreter of this script

			# ros-core-library for standard ros2-functionality (this is the one for python)
			import rclpy
			# use ROS-nodes
			from rclpy.node import Node
			# to subscribe to /scan of type sensor_msgs/msg/LaserScan
			from sensor_msgs.msg import LaserScan
			# to access the QoS-attributes of messages
			from rclpy.qos import ReliabilityPolicy, QoSProfile


			# create a Node "MyNode", that inherits all functionality from "Node"
			class MyNode(Node):
			# initialize node
			def __init__(self):
			# call super() in the constructor to initialize the Node object
			super().__init__('SomeNameOfMyNode')

			# subsribe to topic "/scan" of type "sensor_msgs/msg/LaserScan"
			self.laser_scan_data = self.create_subscription(
			LaserScan,
			'/scan',
			self.laser_scan_data_callback,
			QoSProfile(depth=10, reliability=ReliabilityPolicy.RELIABLE)

			# callback for Laser-Scan-Data
			def laser_scan_data_callback(self, msg):
			# do something
			self.get_logger().info("[laser_scan_data_callback]: Hello.")
			self.get_logger().info(msg.data)
			</source>

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