publisher程序注释
#include <ros/ros.h>
#include "topic/person.h"
int main(int argc, char **argv)
{
ros::init(argc, argv, "person_publisher");
ros::NodeHandle n;
ros::Publisher person_info_pub = n.advertise<topic::person>("/person_info", 10);
ros::Rate loop_rate(1);
int count = 0;
while (ros::ok())
{
topic::person person_msg;
person_msg.name = "Tom";
person_msg.age = 18;
person_msg.sex = topic::person::male;
person_info_pub.publish(person_msg);
ROS_INFO("Publish Person Info: name:%s age:%d sex:%d",
person_msg.name.c_str(), person_msg.age, person_msg.sex);
loop_rate.sleep();
}
return 0;
}
配置