发布和接收消息

1.发布消息

1.发布消息

ros::init(argc, argv, "talker");     //初始化节点

ros::NodeHandle n;                   //定义句柄

 

//定义publisher pulisher = handle.advertise("topic",queue_size)

ros::Publisher chatter_pub = n.advertise("chatter", 1000);

 

std_msgs::String msg;

std::stringstream ss;

ss << "hello world " << count;

//为msg赋值（填入内容）

msg.data = ss.str(); 

 

//发布消息

chatter_pub.publish(msg);

2.接收消息

//定义回调函数

void chatterCallback(const std_msgs::String::ConstPtr& msg)

{

ROS_INFO("I heard: [%s]", msg->data.c_str());

}


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

ros::NodeHandle n;


//定义subscriber, subscriber = handle.subscribe("topic",queue_size,callback_function)

ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);

//保持同步

ros::spin();

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版权声明：本文为CSDN博主「Leo_starr」的原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接及本声明。
原文链接：https://blog.csdn.net/Leo_starr/article/details/102136763