ROS的学习（十二）用C++写一个简单的发布者

     节点是一个可执行程序，它连接到了ROS的网络系统中。我们将会创建一个发布者，也就是说话者节点，它将会持续的广播一个信息。

     改变目录到之前所建立的那个包下：

cd ~/catkin_ws/src/beginner_tutorials

     在beginner_tutorials包下面建立一个src文件夹：

mkdir -p ~/catkin_ws/src/beginner_tutorials/src

     创建文件src/talker.cpp：

vim src/talker.cpp 

     将下面的内容复制进去：

#include "ros/ros.h"
#include "std_msgs/String.h"

#include <sstream>

/**
 * This tutorial demonstrates simple sending of messages over the ROS system.
 */
int main(int argc, char **argv)
{
  /**
   * The ros::init() function needs to see argc and argv so that it can perform
   * any ROS arguments and name remapping that were provided at the command line. For programmatic
   * remappings you can use a different version of init() which takes remappings
   * directly, but for most command-line programs, passing argc and argv is the easiest
   * way to do it.  The third argument to init() is the name of the node.
   *
   * You must call one of the versions of ros::init() before using any other
   * part of the ROS system.
   */
  ros::init(argc, argv, "talker");

  /**
   * NodeHandl