运行roscore,turtlesim
//订阅turtle位姿并输出到屏幕
#include <ros/ros.h>
#include <iomanip>
#include <turtlesim/Pose.h>//使用了turtlesim下的话题pose
#include <ros/console.h>//使用判断输出语句_COND
//回调函数
void poseMessageReceived(const turtlesim::Pose& msg)
{
bool Safe;
int x=(int)msg.x;
int y=(int)msg.y;
if(