ROS 小海龟turtle 订阅者 C++实现

小海龟turtle订阅者 C++实现

/turtle1/pose [turtlesim/Pose]

#include "ros/ros.h"
#include "turtlesim/Pose.h"
using namespace ros;

void topicCallBack(const turtlesim::Pose::ConstPtr &msg){
    ROS_INFO("turtle take message: [ x:%0.6f,y:%0.6f ]",msg->x, msg ->y);
}

int main(int argc, char **argv){
    init(argc, argv, "turtle_subscriber");
    NodeHandle node;
    Subscriber sub = node.subscribe("/turtle1/pose",100,topicCallBack);

    spin();
    return 0;

}