编写发布器和订阅器

talker文件内容如下：

#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 ros~!" << count;
        msg.data = ss.str();
        ROS_INFO("%s",msg.data.c_str());
        chatter_pub.publish(msg);
        ros::spinOnce();
        loop_rate.sleep();
        ++count;
    }
    return 0;
}
/*ros::ok() 返回false的几种情况：

    SIGINT收到(Ctrl-C)信号
    另一个同名节点启动，会先中止之前的同名节点
    ros::shutdown()被调用
    所有的ros::NodeHandles被销毁
*/

listener文件内容如下：

#include "ros/ros.h"
#include "std_msgs/String.h"
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO("I heard: [%s]", msg->data.c_str());
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "listener");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("chatter", 1000,chatterCallback);
ros::spin();
return 0;
}