小海龟turtle订阅者 C++实现
/turtle1/pose [turtlesim/Pose]
#include "ros/ros.h"
#include "turtlesim/Pose.h"
using namespace ros;
void topicCallBack(const turtlesim::Pose::ConstPtr &msg){
ROS_INFO("turtle take message: [ x:%0.6f,y:%0.6f ]",msg->x, msg ->y);
}
int main(int argc, char **argv){
init(argc, argv, "turtle_subscriber");
NodeHandle node;
Subscriber sub = node.subscribe("/turtle1/pose",100,topicCallBack);
spin();
return 0;
}