1.发布消息
1.发布消息ros::init(argc, argv, "talker");
//初始化节点ros::NodeHandle n;
//定义句柄 //定义publisher pulisher = handle.advertise("topic",queue_size)ros::Publisher chatter_pub = n.advertise("chatter", 1000);
std_msgs::String msg;
std::stringstream ss;
ss << "hello world " << count;
//为msg赋值（填入内容）msg.data = https://www.it610.com/article/ss.str();
//发布消息chatter_pub.publish(msg);
2.接收消息
//定义回调函数void chatterCallback(const std_msgs::String::ConstPtr& msg){ROS_INFO("I heard: [%s]", msg->data.c_str());
}ros::init(argc, argv, "listener");
ros::NodeHandle n;
//定义subscriber, subscriber = handle.subscribe("topic",queue_size,callback_function)ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
//保持同步ros::spin();
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版权声明：本文为CSDN博主「Leo_starr」的原创文章，遵循 CC 4.0 BY-SA 版权协议，转载请附上原文出处链接及本声明。
原文链接：https://blog.csdn.net/Leo_starr/article/details/102136763
【发布和接收消息】
