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