ROS订阅者程序

#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 )
 {
 // Initialize the ROS system and become a node .
 ros::init ( argc , argv , "subscribe_to_pose" ) ;
 ros::NodeHandle nh ;

 // Create a subscri ber object .
 ros::Subscriber sub = nh.subscribe ( "turtle1/pose" ,1000,
 &poseMessageReceived ) ;

 // Let ROS take over .
 ros::spin ( ) ;
}

poseMessageReceived 为订阅消息的回调函数

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

为创建一个订阅对象

一.CMakeList.txt中增加如下代码：

find_package(catkin REQUIRED COMPONENTS roscpp turtlesim)
catkin_package()
include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(subpose subpose.cpp)
target_link_libraries(subpose ${catkin_LIBRARIES})

 

二.package.xml 中增加如下代码：

  <build_depend>roscpp</build_depend>
  <exec_depend>roscpp</exec_depend>
  <build_depend>turtlesim</build_depend>
  <exec_depend>turtlesim</exec_depend>

三。运行程序

rosrun pubvel pubvel

同时，你可能想运行一个 turtlesim 模拟器，这样你就可以看

到海龟响应 pubvel 发布的运动命令：

rosrun turtlesim turtlesim_node

 

运行 subpose 监测运行时的位姿

rosrun subpose subpose