ROS 多形参订阅者回调函数与单一节点内同时包含订阅者发布者

ROS 环境下 单一节点内包含订阅者与发布者 订阅者回调函数含有多形参

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参考链接
同一节点内包含订阅者与发布者
多形参回调函数
两者结合

注意点

1. 采用boost::bind对回调函数进行绑定时，请注意在创建订阅者时候指定订阅节点的消息类型:

#include "ros/ros.h"
#include <std_msgs/String.h>
#include <boost/bind.hpp>

void Callback(const std_msgs::String::ConstPtr & msg, int* k)
{
//doing stuff
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "mapper");
    ros::NodeHandle n;
    int test;

    ros::Subscriber sub=n.subscribe<std_msgs::String>("xxxx",10, boost::bind(&Callback, _1, &test));
    while (ros::ok())
    {       
        ros::spinOnce();
        sleep(2);
    }

return 0;
}

即该行代码

  ros::Subscriber sub=n.subscribe<std_msgs::String>("xxxx",10, boost::bind(&Callback, _1, &test));

简单的订阅者是没有<>内的内容的。
另外回调函数中消息需要采用const xxx_msgs::xxxxx::ConstPtr &msg的形式。
最后如果回调函数中多余的形参如果是引用，请在boost::bind中对该参数采用boost::ref(arg_name)的方式传入参数。
2. 参考链接1中将发布者与订阅者同时塞进一个类中的做法优雅值得学习
下面直接贴出源码

#include <ros/ros.h>
 
class SubscribeAndPublish
{
public:
  SubscribeAndPublish()
  {
    //Topic you want to publish
    pub_ = n_.advertise<PUBLISHED_MESSAGE_TYPE>("/published_topic", 1);
 
    //Topic you want to subscribe
    sub_ = n_.subscribe("/subscribed_topic", 1, &SubscribeAndPublish::callback, this);
  }
 
  void callback(const SUBSCRIBED_MESSAGE_TYPE& input)
  {
    PUBLISHED_MESSAGE_TYPE output;
    //.... do something with the input and generate the output...
    pub_.publish(output);
  }
 
private:
  ros::NodeHandle n_; 
  ros::Publisher pub_;
  ros::Subscriber sub_;
 
}//End of class SubscribeAndPublish
 
int main(int argc, char **argv)
{
  //Initiate ROS
  ros::init(argc, argv, "subscribe_and_publish");
 
  //Create an object of class SubscribeAndPublish that will take care of everything
  SubscribeAndPublish SAPObject;
 
  ros::spin();
 
  return 0;
}