ROS实践3：publisher模板教程

#include <sstream>

#include "ros/ros.h"

#include "std_msgs/String.h"

int main(int argc, char **argv)

{

//ROS节点初始化

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

//创建节点句柄

ros::NodeHandle n;

//创建一个publisher,发布名为chatter的topic,消息类型为std_msgs::string

ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter",1000);

//设置循环的频率

ros::Rate loop_rate(10);

int count = 0;

while(ros::ok())

{

//初始化std_msgs::String类型的消息

std_msgs::String msg;

std::stringstream ss;

ss <<"hello word"<< count;

msg.data = ss.str();

//发布消息

ROS_INFO("%s",msg.data.c_str());

chatter_pub.publish(msg);

//循环等待回调函数

ros::spinOnce();

//按照循环频率延时

loop_rate.sleep();

++count;

}

return 0;

}