ROS2/C++ 话题发布和订阅

创建功能包

mkdir -p ros_ws/src
cd ros_ws/src
ros2 pkg create --build-type ament_cmake cpp_pubsub

创建发布节点

cd cpp_pubsub/src/
gedit publisher.cpp

cpp文件内容如下：

#include <chrono>
#include <memory>

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

using namespace std::chrono_literals;

/* This example creates a subclass of Node and uses std::bind() to register a
 * member function as a callback from the timer. */

class MinimalPublisher : public rclcpp::Node
{
   
public:
  MinimalPublisher()
  : Node("minimal_publisher"), count_(0)
  {
   
    publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
    timer_ = this->create_wall_timer(
      500ms, std::bind(&MinimalPublisher::timer_callback, this));
  }

private:
  void timer_callback(