官方示例
#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)
{
ros::init(argc, argv, "listener");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
ros::spin();
return 0;
}
个人输出Hokuyo urg-04lx 数据示例
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "sensor_msgs/LaserScan.h"
using namespace std;
void chatterCallback(const sensor_msgs::LaserScan::ConstPtr& msg)
{
ROS_INFO("I heard: [%f]", msg->angle_max);
cout << msg->angle_max <<endl;
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "listener");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("scan", 1000, chatterCallback);
ros::spin();
return 0;
}
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