ROS中不同package下对同一个topic的订阅和发布

find_package(catkin REQUIRED COMPONENTS
  cv_bridge
  image_transport
  roscpp
  rospy
  sensor_msgs
  std_msgs
)
find_package(OpenCV REQUIRED)

include_directories(include ${catkin_INCLUDE_DIRS})
include_directories(include ${OpenCV_INCLUDE_DIRS})

add_executable(imagesub2 src/imagesub.cpp)
target_link_libraries(imagesub2 ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})

然后编译，编译通过之后运行

roscore
rosrun opencvexam imagepub
rosrun detect_c_from_python imagesub2

可以看到，我们运行的是不同的package下的node，发布和订阅的是同一个话题video_image，可以做到正常的发布和订阅，图像可以正常显示。