#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
ros::Publisher chatter_pub;
ros::Subscriber sub;
void callback()
{
std_msgs::String msg;
std::stringstream ss;
msg.data = "test";
ROS_INFO("%s", msg.data.c_str());
chatter_pub.publish(msg);
}
void function(const std_msgs::StringPtr &msg)
{
callback();
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "talker");
ros::NodeHandle n;
chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
sub = n.subscribe("/test", 1, &function);
ros::Rate loop_rate(10);
ROS_INFO("Please send message!");
ros::spin();
return 0;
}
如果发布一条消息之后直接退出节点,则可以这样:
#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
int m