ros入门（3）话题编程

//发布chatter话题，消息类型string

#include <sstream>
#include "ros/ros.h"
#include "std_msgs/String.h"
int main(int argc, char **argv)
{
	//ROS节点初始化 结点运行名称为talker
	ros::init(argc, argv, "talker");
	//创建节点句柄
	ros::NodeHandle n;
	//创建一个Publisher，发布名为chatter的topic，消息类型为std_msgs::String，队列长度1000
	ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
	//设置循环的频率
	ros::Rate loop_rate(10);
	int count = 0;
	while(ros::ok())
	{
		//初始化std_msgs::String类型的消息
		std_msgs::String msg;
		std::stringstream ss;
		ss<<"hello world"<<count;
		msg.data = ss.str();

		//发布消息
		ROS_INFO("%s", msg.data.c_str());
		chatter_pub.publish(msg);

		//循环等待回调函数
		ros::spinOnce();

		//接受循环频率延时
		loop_rate.sleep();
		++count;
	}
	return 0;
}

自定义话题消息