ROS2学习笔记:C++最小发布/接收节点
通过前边流程建立了workspace和基于C++的package框架后,下边是极简的一个C++语言实现的Publisher和Subscriber例子: #include <chrono> #include <functional> #include <memory> #include <string> #include “rclcpp/rclcpp.hpp” #include “std_msgs/msg/string.hpp” using namespace std::chrono_literals; /* This example creates a subclass of Node and uses std::bind() to register a * member function as a callback from the timer. */ class MinimalPublisher : public rclcpp::Node { public: MinimalPublisher() : Node(“minimal_publisher”), count_(0) { publisher_ = this->create_publisher<std_msgs::msg::String>(“topic”, […]
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