ROS 学习 （1）：publisher和subscriber消息 C++1

（1）catkin创建ros package

catkin_creat_pkg test_ros std_msgs roscpp rospy

catkin_make

source ~/devel/setup.bash

（2）编写pubulisher节点talker1.cpp并publisher话题chatter消息String

#include "ros/ros.h"

#include "std_msgs/String.h"

#include <sstream>

int main(int argc, char **argv)

{

    ros::init(argc,argv, "talker1");

    ros::NodeHandle n;

    ros::Publisher chatter_pub=n.advertise<std_msgs::String>("chatter",1000);

    ros::Rate loop_rate(10);

    int count = 0;

    while(ros::ok())

    {

        std_msgs::String msg;

        std::stringstream ss;

        ss << "Hello world!" << count;

        msg.data=ss.str();

        ROS_INFO("%s", msg.data.c_str());

        chatter_pub.publish(msg);

        ros::spinOnce();

        loop_rate.sleep();

        ++count;

    }

    return 0;

}

(3) listener1.cpp用户subscriber话题chatter消息

#include "ros/ros.h"

#include "std_msgs/String.h"

void chattercallback(const std_msgs::String::ConstPtr& msg)

{

    ROS_INFO("I heard:[%s]",msg->data.c_str());

}

int main(int argc, char **argv)

{

    ros::init(argc, argv, "listener1");

    ros::NodeHandle n;

    ros::Subscriber sub=n.subscribe("chatter", 1000, chattercallback);

    ros::spin();

    return 0;

}

(4)修改CMakeList.txt文件

## Declare a C++ executable

add_executable(talker1 src/talker1.cpp)

add_executable(listener1 src/listener1.cpp)

## Specify libraries to link a library or executable target against

 target_link_libraries(talker1

   ${catkin_LIBRARIES}

 )

target_link_libraries(listener1

  ${catkin_LIBRARIES}

)

(5)运行节点