ros::Rate rate(10) //发布频率
while (ros::ok())
{
count++;
std::stringstream ss;
//字符串拼接
ss<<"hello ---->"<<count;
msg.data=ss.str();
//msg.data="hello";
pub.publish(msg);
//添加日志
ROS_INFO("发布的数据:%s",ss.str().c_str());
rate.sleep();//休眠0.1s
}
其实就是每秒10条消息,所以一条消息0.1s;而如果执行完小于0.1s,就sleep一下,直到0.1s再继续走