1 订阅者代码
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将订阅/turtle1/pose话题,消息类型turtlesim::Pose
*/
#include <ros/ros.h>
#include "turtlesim/Pose.h"
// 接收到订阅的消息后,会进入消息回调函数
void poseCallback(const turtlesim::Pose::ConstPtr& msg)
{
// 将接收到的消息打印出来
ROS_INFO("Turtle pose: x:%0.6f, y:%0.6f", msg->x, msg->y);
}
int main(int argc, char **argv)
{
// 初始化ROS节点
ros::init(argc, argv, "pose_subscriber");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Subscriber,订阅名为/turtle1/pose的topic,注册回调函数poseCallback
ros::Subscriber pose_sub = n.subscribe("/turtle1/pose", 10, poseCallback);
// 循环等待回调函数
ros::spin();
return 0;
}
2添加Cmakelists.txt代码
add_executable(pose_subscriber src/pose_subscriber.cpp)
target_link_libraries(pose_subscriber ${catkin_LIBRARIES})
3 在工作空间根目录编译
catkin_make
4 运行代码
roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key
1 打开总开关
2 运行小海龟
3 运行键盘控制节点 就可以看到海龟订阅的位置信息了