ROS---hello_world实例

一、使用ROS的Hello World示例
创建一个hello_world包

catkin_ws/src$ catkin_create_pkg hello_world roscpp rospy std_msgs

src/talker.cpp

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
int main(int argc, char **argv)
{
	ros::init(argc, argv, "talker");
	ros::NodeHandle n;
	ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
	ros::Rate loop_rate(10);
	int count = 0;
	while (ros::ok())
	{
		std_msgs::String msg;
		std::stringstream ss;
		ss << "hello world " << count;
		msg.data = ss.str();
		ROS_INFO("%s", msg.data.c_str());
		chatter_pub.publish(msg);
		ros::spinOnce();
		loop_rate.sleep();
		++count;
			}
	return 0;
}

src/listener.cpp

#include "ros/ros.h"
#include "std_msgs/String.h"
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
	ROS_INFO