ROS1/2 C++ talker.cpp 对比案例

如下所示，注释为ros1。 

  

   

    

     

    
    

     

      #include <sstream>
     
    
   

    

     

    
    

     

      // #include "ros/ros.h"
     
    
   

    

     

    
    

     

      #include "rclcpp/rclcpp.hpp"
     
    
   

    

     

    
    

     

      // #include "std_msgs/String.h"
     
    
   

    

     

    
    

     

      #include "std_msgs/msg/string.hpp"
     
    
   

    

     

    
    

     

      int main(int argc, char **argv)
     
    
   

    

     

    
    

     

      {
     
    
   

    

     

    
    

     

      // ros::init(argc, argv, "talker");
     
    
   

    

     

    
    

     

      // ros::NodeHandle n;
     
    
   

    

     

    
    

     

        rclcpp::init(argc, argv);
     
    
   

    

     

    
    

     
  auto node = rclcpp::Node::make_shared("talker");
     
    
   

    

     

    
    

     

      // ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
     
    
   

    

     

    
    

     

      // ros::Rate loop_rate(10);
     
    
   

    

     

    
    

     
  auto chatter_pub = node->create_publisher<std_msgs::msg::String>("chatter", 1000);
     
    
   

    

     

    
    

     
  rclcpp::Rate loop_rate(10);
     
    
   

    

     

    
    

     
  int count = 0;
     
    
   

    

     

    
    

     

      // std_msgs::String msg;
     
    
   

    

     

    
    

     

        std_msgs::msg::String msg;
     
    
   

    

     

    
    

     

      // while (ros::ok())
     
    
   

    

     

    
    

     
  while (rclcpp::ok())
     
    
   

    

     

    
    

     

        {
     
    
   

    

     

    
    

     

          std::stringstream ss;
     
    
   

    

     

    
    

     

          ss << "hello world " << count++;
     
    
   

    

     

    
    

     

          msg.data = ss.str();
     
    
   

    

     

    
    

     

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

    

     

    
    

     
    RCLCPP_INFO(node->get_logger(), "%s\n", msg.data.c_str());
     
    
   

    

     

    
    

     

          chatter_pub->publish(msg);
     
    
   

    

     

    
    

     

      // ros::spinOnce();
     
    
   

    

     

    
    

     

          rclcpp::spin_some(node);
     
    
   

    

     

    
    

     

          loop_rate.sleep();
     
    
   

    

     

    
    

     

        }
     
    
   

    

     

    
    

     
  return 0;
     
    
   

    

     

    
    

     

      }
     
    
  
 

文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。

原文链接：zhangrelay.blog.csdn.net/article/details/124776109