#include "ros/ros.h"
#include "std_msgs/String.h"
//接收到订阅的消息后,会进入消息回调函数
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
//接收到的消息打印出来
ROS_INFO("I heard: [%s]", msg->data.c_str());
}
int main(int argc,char **argv)
{
//初始化ros节点
ros::init(argc, argv, "listener");
//创建节点句柄
ros::NodeHandle n;
//创建一个SUBSCRIBER,订阅者为chatter话题,注册回调函数chattercallback
ros::Subscriber sub = n.subscribe("chatter", 1000 , chattercallback);
//循环等待回调函数
ros::spin();
return 0;
}