{"id":323,"date":"2025-04-22T20:49:02","date_gmt":"2025-04-22T12:49:02","guid":{"rendered":"http:\/\/adrianpierre.cn\/?p=323"},"modified":"2025-04-26T17:21:21","modified_gmt":"2025-04-26T09:21:21","slug":"ros-%e4%b8%89%e3%80%81subscriber%e8%ae%a2%e9%98%85%e8%80%85%e7%9a%84c%e5%ae%9e%e7%8e%b0","status":"publish","type":"post","link":"http:\/\/adrianpierre.cn\/index.php\/2025\/04\/22\/ros-%e4%b8%89%e3%80%81subscriber%e8%ae%a2%e9%98%85%e8%80%85%e7%9a%84c%e5%ae%9e%e7%8e%b0\/","title":{"rendered":"ROS\u2014\u2014\u4e09\u3001Subscriber\u8ba2\u9605\u8005C++\u5b9e\u73b0"},"content":{"rendered":"\t\t
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\u30fb\u91cd\u65b0\u521b\u5efa\u4e00\u4e2a\u65b0\u7684\u53d1\u5e03\u8005\uff0c\u5e76\u4fee\u6539chao_node\u7684\u4ee3\u7801<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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chao_node:<\/strong><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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yao_node:<\/strong><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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CMake:<\/strong><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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\"\"<\/div>\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t
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\u30fb\u4f7f\u7528 catkin_create_pkg \u521b\u5efa\u4e00\u4e2a\u8f6f\u4ef6\u5305<\/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\u5982 ROS \u2014\u2014 \u4e00\u3001\u521b\u5efaPackage\u5305\u4e0eNode\u8282\u70b9 <\/a>\u4e2d\u6240\u793a\uff0c\u521b\u5efapkg\u5305\u4f5c\u4e3a\u8ba2\u9605\u8005\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u30fb\u5728\u8f6f\u4ef6\u5305\u7684 src \u6587\u4ef6\u5939\u4e0b\u521b\u5efa\u4e00\u4e2a\u8282\u70b9\u7684 cpp \u6e90\u7801\u6587\u4ef6<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u8ba2\u9605\u7aef\u7a0b\u5e8f\u5982\u4e0b\uff1a<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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\u8fd0\u884c\u7ed3\u679c\u5982\u4e0b\uff1a<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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\u8bfb\u8005\u53ef\u81ea\u884c\u6539\u53d8\u53d1\u5e03\u7a0b\u5e8f\u4e2d\u7684\u53d1\u9001\u9891\u7387\uff0c\u89c2\u5bdfma_node\u8fd0\u884c\u540e\u7684\u7ed3\u679c\u6709\u4f55\u4e0d\u540c<\/strong><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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\u2014\u2014nh.subscribe<\/h3>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u2014\u2014callback \u56de\u8c03\u51fd\u6570\n<\/h3>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u00a0 \u00a0 \u00a0 \u00a0 \u6709\u70b9\u7c7b\u4f3c\u4e8e\u5355\u7247\u673a\u4e2d\u7684\u5916\u90e8\u4e2d\u65ad\u56de\u8c03\u51fd\u6570\uff0c\u81ea\u884c\u4e86\u89e3\u5373\u53ef<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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\u2014\u2014ROS_INFO \/ ROS_WARN<\/h3>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u00a0 \u00a0 \u00a0 \u00a0 \u8f93\u51fa\u5e26\u6709\u65f6\u95f4\u6233\u7684\u7ed3\u679c<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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\u2014\u2014setlocale( LC_ALL, \" ZH_CH.UTF-8 \" );<\/h3>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u00a0 \u00a0 \u00a0 \u00a0 \u82e5\u9700\u8981\u8f93\u51fa\u4e2d\u6587\u5b57\u7b26\uff0c\u5373\u53ef\u52a0\u4e0a\u8fd9\u4e00\u53e5<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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\u2014\u2014ros : : spinOnce( );<\/h3>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u00a0 \u00a0 \u00a0 \u00a0 \u51fd\u6570\u89e3\u91ca\u5177\u4f53\u8be6\u89c1\u8be5\u535a\u5ba2\uff1aROS C++ : \u4f7f\u7528 ros::spin() \u548c ros::spinOnce()\uff0c\u5b9e\u73b0\u5355\u7ebf\u7a0b\u5904\u7406ROS\u6d88\u606f <\/a><\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t

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\u30fbrqt_graph \u547d\u4ee4<\/h2>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\u00a0 \u00a0 \u00a0 \u00a0 \u8be5\u547d\u4ee4\u53ef\u4ee5\u8ba9ROS\u663e\u793a\u5f53\u524d\u5de5\u4f5c\u7684Node\uff0cpkg\uff0cTopic\u548cmsg\u4e4b\u95f4\u7684\u5173\u7cfb\uff0c\u975e\u5e38\u597d\u7528\u4e14\u91cd\u8981\uff0c\u52a1\u5fc5\u8bb0\u4e0b\u6765\uff01\uff01\uff01\uff01<\/p>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t

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\"\"<\/div>\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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\"\"<\/div>\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t
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<\/div>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t
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\n\t\t\t\t\t\t\t\u4ee3\u7801\u53ef\u5728\u6211\u7684github\u5e93<\/a>\u4e2d\u62ff\u53d6<\/strong>\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"

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