ros入门（3）Publisher发布者节点

在之前的基础上创建yao_node.cpp

#include<ros/ros.h>

#include<std_msgs/String.h>

int main(int argc, char *argv[])

{

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

printf("过去生于未来\n");

ros::NodeHandle nh;

ros::Publisher pub=nh.advertise<std_msgs::String>("gie_gie_dai_wo",10);

ros::Rate loop_rate(10);

while (ros::ok())

{

printf("我要开始刷屏了\n");

std_msgs::String msg;

msg.data = "求上车++++";

pub.publish(msg);

loop_rate.sleep();

}

return 0;

}

add_executable(yao_node src/yao_node.cpp)

target_link_libraries(yao_node

${catkin_LIBRARIES}

)

roscore

rosrun ssr_pkg yao_node

rostopic list

 rostopic echo /gie_gie_dai_wo(eg:查看话题内容)

echo -e "\u6C42\u4E0A\u8F66++++"

（因为是中文所以要转码，英文不用）