（九）用C＋＋编写简单的publisher和subscriber

参考网址：

http://www.ros.org/wiki/ROS/Tutorials/WritingPublisherSubscriber(c++)

1，编写publisher节点

节点是一种连接ROS网络的ROS术语，下面是建立的publisher("talker")节点，他可以持续发送信息

$ roscd beginner_tutorials  －－－转到要编写的package路径下

$ touch src/talker.cpp        －－－创建src/talker.cpp文件

$ emacs src.talker.cpp       －－－如果大家安装了emacs，则用emacs编辑，如果没有，则用gedit编辑

打开emacs输入：

这里排版排不好，源代码参考：https://code.ros.org/svn/ros/stacks/ros_tutorials/trunk/roscpp_tutorials/talker/talker.cpp

2，编写subscriber节点

$ touch src/listener.cpp

$ emacs src/listener.cpp

输入：

这里排版排不好，源代码参考

https://code.ros.org/svn/ros/stacks/ros_tutorials/trunk/roscpp_tutorials/listener/listener.cpp 

3，编译节点

$ rosed beginner_tutorialsCMakeLists.txt

修改成如下：

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
#rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})

并在最底层添加：

rosbuild_add_executable(talker src/talker.cpp)
rosbuild_add_executable(listener src/listener.cpp)

这两句表示增加两个执行者：talker和listener，并添加到bin路径中

最后：

$ make

至此，我们编写了一个很简单的自己的talker和listener