【ROS基础】publisher, subscriber, topic

publisher

publisher节点用于不断广播信息

例：创建一个节点，不断发布信息：Tom 18 male

代码如下：

/*
 *发布/person_info_pub话题，自定义消息类型learning_topic::Person
 * */

#include <ros/ros.h>
#include "learning_topic/Person.h"

int main(int argc, char **argv)
{
	// init node
	ros::init(argc, argv, "person_publisher");

	// 创建节点句柄
	ros::NodeHandle n;

	// 创建一个Publisher,
	// 发布名为/person_info的topic
	// 消息类型为learning_topic::Person
	// 队列长度10
	ros::Publisher person_info_pub = n.advertise<learning_topic::Person>("/Person_info", 10);

	// 设置循环频率
	ros::Rate loop_rate(1);

	int count = 0;

	// 开始发布
	while(ros::ok()){
	
		// 初始化learning_topic::Person类型的消息
		learning_topic::Person person_msg;
		person_msg.name = "Tom";
		person_msg.age = 18;
		person_msg.sex = learning_topic::Person::male;

		// 发布消息
		person_info_pub.publish(person_msg);

		ROS_INFO("Publish Person Info:name:%s, age:%d, sex:%d",
				person_msg.name.c_str(), person_msg.age, person_msg.sex);

		// 按照循环频率延时
		loop_rate.sleep();
	}	
}

subscriber