ROS：订阅者程序

（一）：c++代码

#include<ros/ros.h>
#include<turtlesim/Pose.h>
#include<iomanip>


void poseMessageReceived(const turtlesim::Pose & msg)
{
	ROS_INFO_STREAM(std::setprecision(2) << std::fixed
		<< " position =(" << msg.x << " , " << msg.y << " ) "
		<< " *direction=" << msg.theta);
}


int main(int argc, char** argv)
{
	ros::init(argc, atgv, "subscribe_to_pose");
	ros::NodeHandle nh;

	ros::Subscriber sub = nh.subscribe("turtle1/pose", 1000,
		&poseMessageReceived);

	ros::spin();
}

（二）：代码解释

#include<ros/ros.h>
#include<turtlesim/Pose.h>
#include<iomanip>

第一个头