ROS基础教程学习笔记9-编写简单的消息发布器和订阅器C++

1.编写发布器节点

切换到之前用的beginner_tutorials包下：

cd catkin_ws/src/beginner_tutorials

(1)添加源码

在beginner_tutorials文件下创建src文件夹：

mkdir src

然后在src文件下创建talker.cpp文件，并将以下代码复制进去：

#include "ros/ros.h"    //引用了 ROS 系统中大部分常用的头文件
#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.
   */
//初始化 ROS，节点的名称必须唯一
  ros::init(argc, argv, "talker");

  /**
   * NodeHandle is the main access point to communications with the ROS system.
   * The first NodeHandle constructed will fully initialize this node, and the last
   * NodeHandle destructed will close down the node.
   */
//为这个进程的节点创建一个句柄。第一个创建的 NodeHandle 会为节点进行初始化，最后一个销毁的 NodeHandle 则会释放该节点所占用的所有资源。
  ros::Nod