（十）解释创建的简单publisher和subscriber

参考网址：

http://www.ros.org/wiki/ROS/Tutorials/ExaminingPublisherSubscriber

1，运行publisher

$ roscore  －－－打开roscore

$ rosrunbeginner_tutorials talker _name:=talker    －－－运行beginner_tutorialspackage里的talker节点

得到结果：

[ INFO] [1294887629.283905889]: hello world 0

[ INFO] [1294887629.383942925]: hello world 1

[ INFO] [1294887629.483906437]: hello world 2

[ INFO] [1294887629.583917899]: hello world 3

[ INFO] [1294887629.683918559]: hello world 4

[ INFO] [1294887629.783917705]: hello world 5

[ INFO] [1294887629.883912598]: hello world 6

[ INFO] [1294887629.983919235]: hello world 7

[ INFO] [1294887630.083918589]: hello world 8

[ INFO] [1294887630.183919610]: hello world 9

[ INFO] [1294887630.283917946]: hello world 10

2，运行subscriber

$ rosrun beginner_tutorials listener_name:=listener  －－－运行subscriber,在运行talker前提下，得到结果：

[ INFO] [1294887814.318194271]: I heard: [hello world 1]

[ INFO] [1294887814.418000554]: I heard: [hello world 2]

[ INFO] [1294887814.518003235]: I heard: [hello world 3]

[ INFO] [1294887814.618052631]: I heard: [hello world 4]

[ INFO] [1294887814.718048067]: I heard: [hello world 5]

[ INFO] [1294887814.818028344]: I heard: [hello world 6]

[ INFO] [1294887814.918029681]: I heard: [hello world 7]

[ INFO] [1294887815.018162966]: I heard: [hello world 8]

[ INFO] [1294887815.118049353]:个 I heard: [hello world9]

[ INFO] [1294887815.218142135]: I heard: [hello world10]