talker
#include "ros/ros.h" //ros头文件
#include "std_msgs/String.h"//字符头文件
int main(int argc, char **argv){
ros::init(argc,argv,"talker");//初始化名为talker的节点
ros::NodeHandle n;//句柄,启用节点
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter",1000);
//定义发布器,话题名chatter,缓存1000
ros::Rate loop_rate(10);//循环频率,Hz
int count = 0;
while (ros::ok())//死循环
{
std_msgs::String msg;
std::stringstream ss;
ss<<"hello world"<<count;
msg.data=ss.str();
ROS_INFO("%s",msg.data.c_str());//输出消息
chatter_pub.publish(msg);//发布消息
ros::spinOnce();
loop_rate.sleep();
count++;
/* code */
}
}
listener
#include "ros/ros.h"
#include "std_msgs/String.h"
//回调函数,%s:输出字符串
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();//死循环
return 0;
}