ROS实践1：publisher详解

创建ros节点，发布一个/number的话题，数据类型为int型，发布消息频率为10HZ。

具体代码如下，放在src文件夹下，catkin_make进行编译。

#include "ros/ros.h"

#include"std_msgs"

#include <iostream>

int main(int argc, char **argc)

{

ros::init(argc, argv, "demo_topic_publisher");

ros::NodeHandle node_obj;

ros::Publisher number_publisher = node_obj.advertise<std_msgs::Int32>("/numbers",10);

ros::Rate loop_rate(10);

int number_count = 0;

while(ros::ok())

{

std_msgs::Int32 msg;

msg.data = number_count;

ROS_INFO("%d",msg.data);

number_publisher.publish(msg);

ros::spinOnce();

loop_rate.sleep();

++number_count;

}

return 0;

}