ROS创建Publisher和 Subscriber 实现通信

创建 Publisher和 Subscriber 实现通信

1. 创建工作空间

mkdir src
cd ..
caktkin_init_workspace

2. 添加环境变量

source devel/setup.bash

查看ros 环境变量

echo $ROS_PACKAGE_PATH

3. 创建功能包

catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
catkin_create_pkg learning_communication std_msgs rospy roscpp

4. 创建发布/订阅节点

// filename: listener.cpp
# include "ros/ros.h"
# include "std_msgs/String.h"

// 接收订阅的消息后，会进入消息的回调函数
void chatterCallback(const std_msgs::String::ConstPtr& msg){
   
    //将接受的消息打印出来
    ROS_INFO("I heard: [%s]", msg->data.