自定义msg使用C++

在之前创建talker的src文件夹中创建person.cpp并编写如下

#include "ros/ros.h"

#include "learning_communication/Person.h"

#include <sstream>

int main(int argc,char *argv[]){

setlocale(LC_ALL,"");//避免乱码

ros::init(argc,argv,"person");//初始化节点

ros::NodeHandle n;//创建句柄

ros::Publisher pub=n.advertise<learning_communication::Person>("chatting",1000);//创建发布者对象

ros::Rate rate(2);

learning_communication::Person person;

person.name="Bob";

person.age=18;

person.height=180.5;//此处与上文中score位置对应，可自行修改

ros::Duration(0.5).sleep();

while(ros::ok()){

pub.publish(person);

ROS_INFO("name:%s age:%d height:%.1f",person.name.c_str(),person.age,person.height);//".c_str()"转换为字符串

person.age++;

rate.sleep();

ros::spinOnce();

}

return 0;

}

之后在CMakeList.txt中按照格式添加各项依赖和目标

add_exec