ros2发布订阅多线程

#include <chrono>
#include <cinttypes>
#include <cstdio>
#include <memory>
#include <string>
#include <utility>
#include <chrono>         // std::chrono::seconds

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "std_msgs/msg/int32.hpp"

using namespace std::chrono_literals;

struct Producer : public rclcpp::Node
{
    Producer(const std::string &name, const std::string &output)
        : Node(name)
    {
        // Create a publisher on the output topic.
        pub_ = this->create_publisher<std_msgs::msg::Int32>(output, 10);
        std::weak_ptr<std::remove_pointer<decltype(pub_.get())>::type> captured_pub = pub_;
        // Create a timer which publishes on the output topic at ~1Hz.
        auto callback = [captured_pub]() -> void {
            auto pub_ptr = captured_pu