引用:http://www.noobyard.com/article/p-stbaztxh-nu.html
void Callback(const std_msgs::String::ConstPtr& msg)
{
....
}
int main(int argc, char** argv)
{
....
ros::Subscriber sub = n.subscribe("/topic", 1000, Callback);
....
}
void Callback(const std_msgs::String::ConstPtr& msg,type1 arg1, type2 arg2,...,typen argN)
{
....
}
int main(int argc, char** argv)
{
....
ros::Subscriber sub =
n.subscribe<std_msgs::String>("/topic", 1000, boost::bind(&Callback,_1,arg1,arg2,...,argN));
//此处 _1 是占位符, 表示了const std_msgs::String::ConstPtr& msg。
....
}
注意:
1、n.subscribe<std_msgs::String>
类型必须加不然报错:
error: no matching function for call to
2、回调函数需要用::ConstPtr
而不是::Ptr
,不然会报错
could not convert from ‘shared_ptr<Int64_<[...]>>’ to ‘shared_ptr<Int64_<[...]>>’