ros 发布信息频率_ROS入门（十）---编写简单的消息发布器和订阅器

编写发布器节点

节点(Node) 是指 ROS 网络中可执行文件。接下来，我们将会创建一个发布器节点("talker")，它将不断的在 ROS 网络中广播消息。

切换到之前创建的 beginner_tutorials package 路径下：

cd ~/catkin_ws/src/beginner_tutorials

源代码

在 beginner_tutorials package 路径下创建一个src文件夹：

mkdir -p ~/catkin_ws/src/beginner_tutorials/src

这个文件夹将会用来放置 beginner_tutorials package 的所有源代码。

在 beginner_tutorials package 里创建 src/talker.cpp 文件，并将如下代码粘贴到文件内：https://raw.github.com/ros/ros_tutorials/groovy-evel/roscpp_tutorials/talker/talker.cpp​raw.github.com

27 #include "ros/ros.h"

28 #include "std_msgs/String.h"

29

30 #include

31

32 /**

33 * This tutorial demonstrates simple sending of messages over the ROS system.

34 */

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

36 {

37 /**

38 * The ros::init() function needs to see argc and argv so that it can perform

39 * any ROS arguments and name remapping that were provided at the command line. For programmatic

40 * remappings you can use a different version of init() which takes remappings

41 * directly, but for most command-line programs, passing argc and argv is the easiest

42 * way to do it. The third argument to init() is the name of the node.

43 *

44 * You must call one of the versions of ros::init() before using any other

45 * part of the ROS system.

46 */

47 ros::init(argc, argv, "talker");

48

49 /**

50 * NodeHandle is the main access point to communications with the ROS system.

51 * The first NodeHandle constructed will fully initialize this node, and the last

52 * NodeHandle destructed will close down the node.

53 */

54 ros::NodeHandle n;

55

56 /**

57 * The advertise() function is how you tell ROS that you want to

58 * publish on a given topic name. This invokes a call to the ROS

59 * master node, which keeps a registry of who is publishing and who

60 * is subscribing. After this advertise() call is made, the master

61 * node will notify anyone who is trying to subscribe to this topic name,

62 * and they will in turn negotiate a peer-to-peer connection with this

63 * node. advertise() returns a Publisher object which allows you to

64 * publish messages on that topic through a call to publish(). Once

65 * all copies of the returned Publisher object are destroyed, the topic

66 * will be automatically unadvertised.

67 *

68 * The second parameter to advertise() is the size of the message queue

69 * used for publishing messages. If messages are published more quickly

70 * than we can send them, the number here specifies how many messages to

71