Linux学习之ROS简单编程（二）

前面一篇文章介绍ROS的安装以及一个简单的hello world程序；
参考链接：https://blog.csdn.net/qq_43433255/article/details/88806006
这一次，介绍关于ROS的两个程序：talker.cpp与listener.cpp，也是一个关于hello world的程序，但是交互式的；
首先，打开终端：

cd   catkin_ws

在beginner_tutorials/src目录下创建talker.cpp：

cd ~/catkin_ws/src/beginner_tutorials/src
sudo gedit talker.cpp

taiker.cpp的代码为：

#include<ros/ros.h>
#include<std_msgs/String.h>
 #include<sstream>

int main(int argc,char **argv)
{

    ros::init(argc,argv,"talker");
   ros::NodeHandle n;
   ros::Publisher chatter_pub=n.advertise<std_msgs::String>("chatter",1000);
    ros::Rate loop_rate(10);
    int count=0;
    while(ros::ok())
    {
    std_msgs::String msg;

    std::stringstream ss;
    ss<<"Hello world"<<count;
    msg.data==ss.str();

    ROS_INFO("%S",msg.data.c_str());

    chatter_pub.publish(msg);
    ros::spinOnce();

    loop_rate.sleep();

    ++count;
    }

 return 0;
 }

在beginner_tutorials/src目录下创建listener.cpp：

cd ~/catkin_ws/src/beginner_tutorials/src
sudo gedit listener.cpp

listener.cpp的代码：

#include<ros/ros.h>
#include<std_msgs/String.h>
 
/**
 * This tutorial demonstrates simple receipt of messages over the ROS system.
 */
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
  ROS_INFO("I heard: [%s]", msg->data.c_str());
}
 
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, "listener");
 
  /**
   * NodeHandle is the main access point to communications with the ROS system.
   * The first NodeHandle constructed will fully init