ROS的发布消息Publishers和订阅消息Subscribers

程序里面主要是订阅录制好的激光数据（并且scan数据通过rosbag回放），经过一系列几何处理之后进行重新发布出来输出信息，消息之间的发布和订阅如下所示：

lzm@lzm:~$ rostopic info /scan
Type: sensor_msgs/LaserScan

Publishers: 
 * /play_1602042026551485542 (http://lzm:36033/)

Subscribers: 
 * /navigation (http://lzm:45147/)
 * /feature (http://lzm:44347/)


lzm@lzm:~$ rostopic info /scan_deal 
Type: sensor_msgs/LaserScan

Publishers: 
 * /feature (http://lzm:44347/)

Subscribers: 
 * /rviz_1602039365042244725 (http://lzm:35289/)