ros中spin与spinOnce的区别

ros::spin()和ros::spinOnce()都是在订阅主题的时候使用的，区别在于ros::spinOnce()在完成订阅后直接返回，而ros::spin()会一直阻塞直到程序终结。
下面是两个例子：

ros::spinOnce()

ros::Rate r(10); // 10 hz
while (should_continue)
{
	... do some work, publish some messages, etc. ...
	ros::spinOnce();
	r.sleep();
}

ros::spin()

ros::init(argc, argv, "my_node");
ros::NodeHandle nh;
ros::Subscriber sub = nh.subscribe(...);
...
ros::spin();

参考链接：http://wiki.ros.org/roscpp/Overview/Callbacks%20and%20Spinning