【ROS学习-10】用C++编写一个简单的Publisher和Subscriber
1. 创建 Publisher Node roscd beginner_tutorials 创建 src/talker.cpp 文件，内容如下（可从 https://raw.github.com/ros/ros_tutorials/kinetic-devel/roscpp_tutorials/talker/talker.cpp 获取源码）： #include "ros/ros.h" #include "std_msgs/String.h" #include <sstream> int main(int argc, char **argv) { ros::init(argc, argv, "talker"); ros::NodeHandle n; 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...