ROS学习笔记九：用C++编写ROS发布与订阅

ROS学习笔记九：用C++编写ROS发布与订阅

本节主要介绍如何用C++编写一个简单的ROS发布与订阅。

编写发布节点

在之前创建的例子beginner_tutorials软件包中，在其目录下的src目录中，创建talker.cpp文件：

#include "ros/ros.h"  //ROS中最常用片段的头文件
#include "std_msgs/String.h"   //由String.msg自动产生的头文件

#include <sstream>   //stringstream头文件

/**
 * This tutorial demonstrates simple sending of messages over the ROS system.
 */
int main(int argc, char **argv)
{
  /**
   * The ros::init() function needs to see argc and argv so that it can perform
   * any ROS arguments and name remapping that were provided at the command line.
   * For programmatic remappings you can use a different version of init() which takes
   * remappings directly, but for most command-line programs, passing argc and argv is
   * the easiest way to do it.  The third argument to init() is the name of the node.
   *
   * You must call one of the versions of ros::init() before using any other
   * part of the ROS system.
   */
  ros::init(argc, argv, "talker");   //初始化ROS，在这里可以指定我们节点的名称，一个ROS系统中节点的名称必须是唯一的

  /**
   * NodeHandle is the main access point to communications with the ROS system.
   * The first NodeHandle constructed