ROS的学习（十四）用C++写一个简单的接收者

     打开一个终端，进入到beginner_tutorials包下面：

cd ~/catkin_ws/src/beginner_tutorials

     编辑文件 src/listener.cpp：

vim src/listener.cpp

     将下面的代码复制到文件中：

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

/**
 * This tutorial demonstrates simple receipt of messages over the ROS system.
 */
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
  ROS_INFO("I heard: [%s]", msg->data.c_str());
}

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