ROS订阅

1. 包含头文件

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>

2. 初始化ROS节点

ros::init(argc,argv,"节点名");

3. 创建节点句柄

ros::NodeHandle nh;

4. 创建订阅者对象

ros::Subscribe sub = nh.subscribe<std_msgs::String>("话题名",长度,回调函数);
ros::spin();