gmapping 代码

fly1ng_duck

于 2018-04-23 15:27:55 发布

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分类专栏： cpp

本文链接：https://blog.youkuaiyun.com/fly1ng_duck/article/details/80046350

本文详细介绍了ROS中用于发布话题的广告函数`advertise`的不同版本，包括简单的广告方式和带有订阅者状态回调的高级选项。这些函数用于连接到主节点，宣布节点将在给定主题上发布消息，并返回一个Publisher对象，允许发布消息。文章提到了模板便利函数和使用场景示例，以及如何设置连接和断开连接的回调函数。

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 // Versions of advertise()
    //////////////////////////////////////////////////////////////////////////////////////////////////////////////
    /**
     * \brief Advertise a topic, simple version
     *
     * This call connects to the master to publicize that the node will be
     * publishing messages on the given topic.  This method returns a Publisher that allows you to
     * publish a message on this topic.
     *
     * This version of advertise is a templated convenience function, and can be used like so
     *
     *   ros::Publisher pub = handle.advertise<std_msgs::Empty>("my_topic", 1);
     *
     * \param topic Topic to advertise on
     *
     * \param queue_size Maximum number of outgoing messages to be
     * queued for delivery to subscribers
     *
     * \param latch (optional) If true, the last message published on
     * this topic will be saved and sent to new subscribers when they
     * connect
     *
     * \return On su