如何在回调函数中发布消息

使用类实现在回调函数中发布消息

#include <ros/ros.h>
#include "circle/PersonMsg.h"
#include "circle/velCommand.h"
#include <turtlesim/Spawn.h>
#include<geometry_msgs/Twist.h>

using namespace std;

#include <iostream>
using namespace std;
class SubscribeAndPublish
{
public:
   string newName;
  SubscribeAndPublish()
  {
    //Topic you want to publish
    // pub_ = n_.advertise<msg_type>("/published_topic", 1);
    //Topic you want to subscribe
    sub_ = n_.subscribe("/add_turtle", 1, &SubscribeAndPublish::newCallback, this);
    // sub_ = n_.subscribe("/velocity_command", 1, &SubscribeAndPublish::velCallback, this);
  }

    void newCallback(const circle::PersonMsg::ConstPtr& msg){
        newName = msg->name;
        // ROS_INFO("Turtle name: x: %s", msg->name.c_str());

        ros::service::waitForService("/spawn");
        ros::ServiceClient newTurtle_client = n_.serviceClient<turtlesim::Spawn>("/spawn");
        // 初始化请求数据
        turtlesim::Spawn srv;
        srv.request.name = newName;
        srv.request.x = 2.0;
        srv.request.y = 2.0;
        // ROS_INFO("name: %s,  x: %0.2f, y: %0.2f", srv.request.name.c_str(), srv.request.x,srv.request.y);
        newTurtle_client.call(srv);
    }

    // void velCallback(const circle::velCommand::ConstPtr& msg){
    //     if(newName == msg->name&&msg->on == true){
    //         string rest = "/cmd_vel";
    //         string topic = newName+rest;
    //         pub_ = n_.advertise<geometry_msgs::Twist>(topic, 10);
    //         ros::Rate loop_rate(1);
    //             while (ros::ok())
    //         {
    //             // 初始化learning_communication::Person类型的消息
    //             geometry_msgs::Twist vel_msg;
    //             vel_msg.linear.x = 2;
    //             vel_msg.angular.z = 0.5;

    //             // 发布消息
    //             pub_.publish(vel_msg);
    //             // ROS_INFO("vel: %2f, angel: %2f",vel_msg.linear.x,vel_msg.angular.z );


    //             // 按照循环频率延时
    //             loop_rate.sleep();
    //         }   
    //     }
    //     // ROS_INFO("Turtle name: x: %s", msg->name.c_str());
    // }


private:
  ros::NodeHandle n_; 
  ros::Publisher pub_;
  ros::Subscriber sub_;
};


    int main(int argc, char  **argv){
        // 初始化
        ros::init(argc,argv,"newSub");
        SubscribeAndPublish SAPObject;
        // // 创建句柄
        // ros::NodeHandle n;

        // // 创建sub
        // ros::Subscriber newSub = n.subscribe("/add_turtle", 10 ,newCallback);
        

        ros::spin();
        

        // 连接名为spawn的服务,创造client对象
        // while (newName!=nullptr)
        // {
           
        
        // ros::service::waitForService("/spawn");
        // ros::ServiceClient newTurtle_client = n.serviceClient<turtlesim::Spawn>("/spawn");

        // // 初始化请求数据
        // turtlesim::Spawn srv;
        // srv.request.name = newName;
        // srv.request.x = 2.0;
        // srv.request.y = 2.0;

        // // 请求服务调用
        // ROS_INFO("name: %s,  x: %0.2f, y: %0.2f", srv.request.name.c_str(), srv.request.x,srv.request.y);
        // newTurtle_client.call(srv);

        // // 显示服务结果
        // ROS_INFO("Successful Response. Name: %s, x: %0.2f, y: %0.2f", srv.request.name.c_str(), srv.request.x,srv.request.y);

        return 0;
        // }

    }