unitree_sdk2_python/example/helloworld/subscriber.py at master · Unify-Robotics/unitree_sdk2_python · GitHub

20 lines (16 loc) · 526 Bytes

import time

from unitree_sdk2py.core.channel import ChannelSubscriber, ChannelFactoryInitialize

from user_data import *

if __name__ == "__main__":

ChannelFactoryInitialize()

# Create a subscriber to subscribe the data defined in UserData class

sub = ChannelSubscriber("topic", UserData)

sub.Init()

while True:

msg = sub.Read()

if msg is not None:

print("Subscribe success. msg:", msg)

else:

print("No data subscribed.")

break

sub.Close()

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