标志位测试（5）

1. 先写一个用于测试标志位消息发布的测试函数 test_flag_pub.cpp.

#include "ros/ros.h"
//xx
#include <xx_msgs/Flag.h>
#include <iostream>
using namespace std;
ros::Publisher to_flag_pub;
char ch;
int main(int argc,char** argv)
{
	ros::init(argc, argv, "test_flag_pub");
    ros::NodeHandle n;	
    to_flag_pub = n.advertise<xx_msgs::Flag>("flag_cv_to_nav",1);
    while(ros::ok())
    {
        printf("please input:1:nav or 2:cv\n");
        ch = getchar();   //按键模拟控制权
        if(ch == '1')    
        {
            xx_msgs::Flag flag_cv;
            flag_cv.flag = "nav start,cv stop";
            to_flag_pub.publish(flag_cv);
            cout<<flag_cv.flag<<endl;
        }
        if(ch == '2')
        {
            xx_msgs::Flag flag_cv;
            flag_cv.flag = "nav stop,cv start";
            to_flag_pub.publish(flag_cv);
            cout<<flag_cv.flag<<endl;
        }
    }	
    return 0;
}

2. 写一个用于测试接收标志位信息的接收函数 test_flag_sub.cpp.

#include "ros/ros.h"
//xx
#include <xx_msgs/Flag.h>
#include <iostream>
using namespace std;

ros::Subscriber recv_flag_pub;

std::string flag_cv;
int flag_nav;   //导航标志
void recv_flag_callback(const xx_msgs::Flag::ConstPtr& msg)
{
	flag_cv = msg->flag;
	std::cout<<flag_cv<<std::endl;
	if(flag_cv == "nav stop,cv start")
	{
		flag_nav =0;
		cout<<"nav did stop"<<endl;
	}

	if(flag_cv == "nav start,cv stop")
	{
		flag_nav =1;
		cout<<"nav do start"<<endl;
	}	
}
int main(int argc,char** argv)
{
	ros::init(argc, argv, "test_flag_sub");
    ros::NodeHandle n;
	recv_flag_pub = n.subscribe<xx_msgs::Flag>("flag_cv_to_nav",1,recv_flag_callback);
	
	ros::spin();	
    return 0;
}

测试结果：