ROS学习--订阅者的编程实现

如何实现一个订阅者

step1.初始化ros节点

step2.订阅需要的话题

step3.循环等待的话题消息，接受到消息后进入到回调函数

step4.在回调i函数中完成消息的处理

在上一期的velocity_publisher.cpp同级目录下创建一个pose_subscriber.cpp

代码如下

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

void poseCallback(const turtlesim::Pose::ConstPtr&msg)
{
	ROS_INFO("Turtle pose: x:%0.6f,y:%0.6f",msg->x,msg->y);
}

int main(int argc,char **argv)
{
	ros::init(argc,argv,"pose_subscirber");
	
	ros::NodeHandle n;
	
	ros::Subscriber pose_sub =n.subscribe("/turtle1/pose",10,poseCallback);
	
	ros::spin();
	
	return 0;
	

}

在CMakeLists.txt添加

add_executable(pose_subscriber src/pose_subscriber.cpp)
target_link_libraries(pose_subscriber ${catkin_LIBRARIES})

运行程序--打开终端

cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun learning_topic pose_subscriber

结果--打印出小海龟的姿态信息