{"id":297,"date":"2025-04-21T21:26:13","date_gmt":"2025-04-21T13:26:13","guid":{"rendered":"http:\/\/adrianpierre.cn\/?p=297"},"modified":"2025-04-21T22:03:34","modified_gmt":"2025-04-21T14:03:34","slug":"ros-%e4%ba%8c%e3%80%81publisher%e5%8f%91%e5%b8%83%e8%80%85c%e5%ae%9e%e7%8e%b0","status":"publish","type":"post","link":"http:\/\/adrianpierre.cn\/index.php\/2025\/04\/21\/ros-%e4%ba%8c%e3%80%81publisher%e5%8f%91%e5%b8%83%e8%80%85c%e5%ae%9e%e7%8e%b0\/","title":{"rendered":"ROS\u2014\u2014\u4e8c\u3001Publisher\u53d1\u5e03\u8005C++\u5b9e\u73b0"},"content":{"rendered":"\t\t
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\u00b7\u4ec0\u4e48\u662fTopic\uff1f \u4ec0\u4e48\u662fMessage\uff1f<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\n\t\t\t\t\t\t\t\u8fd9\u91cc\u76f4\u63a5\u91c7\u7528b\u7ad9up\u4e3b\u2014\u2014\u673a\u5668\u4eba\u5de5\u5320\u963f\u6770<\/a>\uff0c\u8bfe\u7a0b\u4e2d\u7684\u56fe\u7247\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u00b7\u786e\u5b9a\u6d88\u606f\u6570\u636e\u7c7b\u578b<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u5728\u5bfc\u5165\u4f9d\u8d56\u5305\u65f6\uff0c\u6709\u4e00\u4e2a\u6587\u4ef6\u53eb\u505astd_msgs\uff0c\u8fd9\u4e2a\u4f9d\u8d56\u5305\u5c31\u662f\u89c4\u5b9a\u53d1\u9001\u6570\u636e\u7c7b\u578b\u7684<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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\n\t\t\t\t\t\t\tROS\u7684pkg\u4e0b\u8f7d\u7f51\u7ad9\uff1ahttps:\/\/index.ros.org\/<\/a>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u00a0 \u00a0 \u00a0 \u00a0 \u968f\u540e\u53ef\u9009\u62e9\u60f3\u8981\u53d1\u9001\u7684\u6d88\u606f\u7c7b\u578b\uff0c\u5e76\u4e14\u53ef\u4ee5\u5177\u4f53\u67e5\u770b\u4ee3\u7801\u3002\u6bd4\u5982\u6211\u4eec\u8fd9\u6b21\u60f3\u8981\u53d1\u9001\u5b57\u7b26\u4e32\u6570\u636e\uff1a<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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\u00b7\u4fee\u6539\u8282\u70b9cpp\u6587\u4ef6<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u4fee\u6539\u524d\uff1a<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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\u4fee\u6539\u540e\uff1a<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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nh.advertise<\/strong>\uff1a\u6784\u5efa\u6d88\u606f\u53d1\u9001\u5bf9\u8c61<\/p>

Adrian_Topic<\/strong>\uff1a\u8bdd\u9898\u540d\u79f0<\/p>

Adrian_msg<\/strong>\uff1a\u53d1\u9001\u7684\u4fe1\u606f<\/p>

loop_rate<\/strong>\uff1a\u53d1\u9001\u6d88\u606f\u9891\u7387<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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\u542f\u52a8ROS\u6838\u5fc3\uff0crosrun\u8fd9\u4e2aNode<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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\u2014\u2014rostopic list<\/h3>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u2014\u2014rostopic echo<\/h3>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u2014\u2014rostopic hz<\/h3>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u672a\u7528 loop_rate <\/strong>\u9650\u5236\u53d1\u9001\u9891\u7387\u524d\uff08\u9891\u7387\u4e3a9155-50764\uff09\uff1a<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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\u9650\u5236\u540e\uff08\u9891\u7387\u56fa\u5b9a\u4e3a10\uff09\uff1a<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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