ROS学习<四> 发布与订阅，服务与客户（C++）

用C++编写简单的ROS发布与订阅程序

首先进入目录~/catkin_ws/src/beginner_tutorials/src 即工程的源码目录。

创建文件  talker.cpp  为发布话题的程序。

talker.cpp：

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

#include <sstream>

/**
 *Sending message over the ROS system
*/

int main(int argc, char **argv)
{
    /**
     * must call one of version of ros::init()
     */
    ros::init(argc,argv,"talker");
    
    /**
     * using NodeHandle to communicate with the ROS system
     */
    ros::NodeHandle n;
    /*
     * use advertise() to tell ROS the topic name published 
     * invoke a registy(master node) system to tell who is publishing and
     * who is subscribing
     * the master node will create a p2p connect between the topic and the 
     * node who want to subscribe
     */
    ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter",1000);
    ros::Rate loop_rate(10);
    
    int count =0;
    while(ros::ok())
    {
	std_msgs::String msg;
	std::stringstream ss;
	ss<<"Hello World"<< count;
	msg.data=ss.str();
	ROS_INFO("%s",msg.data.c_str());


	chatter_pub.publish(msg);
	ros::spinOnce();
	loop_rate.sleep();
	&#