参考资料: 在一个进程中,同时发布订阅https://github.com/SupermanCj/opendds-opencv-demo/tree/master/opendds-opencv-video-example https://opendds.org/about/articles/Article-Intro.html#Running_TCP https://blog.csdn.net/luylic/article/details/107364043 https://blog.csdn.net/babypphappy/article/details/123227993#t5