ROSNOTE : 回调函数中发布消息

原文:https://blog.csdn.net/ethan_guo/article/details/80226121#commentBox

    #include <ros/ros.h>  
      
    class SubscribeAndPublish  
    {  
    public:  
      SubscribeAndPublish()  
      {  
        //Topic you want to publish  
        pub_ = n_.advertise<PUBLISHED_MESSAGE_TYPE>("/published_topic", 1);  
      
        //Topic you want to subscribe  
        sub_ = n_.subscribe("/subscribed_topic", 1, &SubscribeAndPublish::callback, this);  //注意这里，和平时使用回调函数不一样了。
      }  
      
      void callback(const SUBSCRIBED_MESSAGE_TYPE& input)  
      {  
        PUBLISHED_MESSAGE_TYPE output;  
        //.... do something with the input and generate the output...  
        pub_.publish(output);  
      }  
      
    private:  
      ros::NodeHandle n_;   
      ros::Publisher pub_;  
      ros::Subscriber sub_;  
      
    }//End of class SubscribeAndPublish  
      
    int main(int argc, char **argv)  
    {  
      //Initiate ROS  
      ros::init(argc, argv, "subscribe_and_publish");  
      
      //Create an object of class SubscribeAndPublish that will take care of everything  
      SubscribeAndPublish SAPObject;  
      
      ros::spin();  
      
      return 0;  
    }  

注意:订阅 这一行和以前的写法不一样