1. 先上圖片：

   
   
   代碼注意事項

運行效果

節(jié)點信息

2. 編碼

$cd ~/catkin_ws/
$catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
$cd  beginner_tutorials
$mkdir src
$cd src

創(chuàng)建 talker.cpp / listenner.cpp兩個源碼文件

//talker.cpp
#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
int main(int argc,char **argv)
{
    //名稱talker必須唯五
    ros::init(argc,argv,"talker1");
    ros::NodeHandle n;
    ros::Publisher chatter_pub=n.advertise<std_msgs::String>("message1",1000);

    ros::Rate loop_rate(10); //loop_rate 發(fā)送數(shù)據(jù)頻率10Hz
    int count=0;
    while(ros::ok())
    {
        std_msgs::String msg;
        std::stringstream ss;
        ss<< "helo world" <<count;
        msg.data=ss.str();

        ROS_INFO("%s",msg.data.c_str());

        chatter_pub.publish(msg);

        ros::spinOnce();

        loop_rate.sleep();
        ++count;
    }
    return 0;
}

//listenner.cpp
 #include "ros/ros.h"
#include "std_msgs/String.h"
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
    ROS_INFO("I heard:[%s]",msg->data.c_str());
}
int main(int argc,char **argv)
{
    //名稱初始化時要求唯一
    ros::init(argc,argv,"listenner1");
    ros::NodeHandle n;

    //這里訂閱的chatter必須與發(fā)布者一致
    ros::Subscriber sub=n.subscribe("message1",1000,chatterCallback);

    //spin()是節(jié)點讀取數(shù)據(jù)的消息響應(yīng)循環(huán)
    ros::spin();
    return 0;
}

目錄下的CMakelists.txt尾部追加信息

include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker rospubsub_demo_generate_messages_cpp)
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener rospubsub_demo_generate_messages_cpp)

3. 運行

$source ~/catkin_ws/devel/setup.bash

運行tmux開三個窗口后分別運行下面的程序

$roscore

$rosrun beginner_tutorials talker

$rosrun beginner_tutorials listenner

4. 通過rqt_graph看節(jié)點狀態(tài)

$rosrun rqt_graph rqt_graph