ros之cpp快速搭建

#include <ros/ros.h>
#include <pcl_ros/point_cloud.h>

#include <pcl/console/time.h>
#include <pcl/point_types.h>

ros::Publisher g_pub_name;

void callback(const pcl::PointCloud<pcl::PointXYZI>::Ptr pc_msg)
{
  std::cout << "enter into callback fuction!" << std::endl;
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "RSFilter_node");
  ros::NodeHandle nh;
  ros::NodeHandle priv_nh("~");

  ros::Subscriber sub_name = nh.subscribe(sub_topic, 10, callback);
  g_pub_name = nh.advertise<pcl::PointCloud<pcl::PointXYZI>>("/pub_topic", 10);
  ros::spin();
  return 0;
}