ROS2从入门到精通1-1：详解ROS2话题通信机制与自定义消息

        publisher_->publish(msg);
    }

private:
    rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;

};

int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);

auto node = std::make\_shared<PublisherNode>();

rclcpp::Rate loop\_rate(10);
while(rclcpp::ok()) {
    auto msg = geometry_msgs::msg::Twist();
    msg.linear.x = 0.5;
    msg.angular.z = 0.2;
    node->publish(msg);
    RCLCPP\_INFO(node->get\_logger(), "Publishing: x: %.2f, z: %.2f", msg.linear.x, msg.angular.z);
    loop_rate.sleep();
}   

rclcpp::shutdown();                                
return 0;

}

* **订阅者**(订阅的话题存在消息即触发回调函数)

 

class SubscriberNode : public rclcpp::Node
{
public:
SubscriberNode() : Node(“lab_topic_sub”)
{
subscriber_ = create_subscription<geometry_msgs::msg::Twist>(
“/turtle1/cmd_vel”, 10, std::bind(&SubscriberNode::OnPoseCallback, this, _1));
}

private:
    void OnPoseCallback(const geometry_msgs::msg::Twist & msg) const
    {
        RCLCPP\_INFO(get\_logger(), "Publishing: x: %.2f, z: %.2f", msg.linear.x, msg.angular.z);
    }
    
    rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr subs