ROS 基础: 在同一个节点里订阅和发布消息

在一些应用中，可能有的人需要在同一个节点中实现订阅一个消息，然后在该消息的回调函数中处理一下这些数据后再发布到另一个topic上。

ROS answers中也有人有相同的疑问，这里贴出Martin Peris答案：

#include <ros/ros.h>class SubscribeAndPublish{public: SubscribeAndPublish() {//Topic you want to publishpub_ = n_.advertise<PUBLISHED_MESSAGE_TYPE>("/published_topic", 1);//Topic you want to subscribesub_ = n_.subscribe("/subscribed_topic", 1, &SubscribeAndPublish::callback, this); } void callback(const SUBSCRIBED_MESSAGE_TYPE& input) {PUBLISHED_MESSAGE_TYPE output;//…. do something with the input and generate the output…pub_.publish(output); }private: ros::NodeHandle n_; ros::Publisher pub_; ros::Subscriber sub_;}//End of class SubscribeAndPublishint main(int argc, char **argv){ //Initiate ROS ros::init(argc, argv, "subscribe_and_publish"); //Create an object of class SubscribeAndPublish that will take care of everything SubscribeAndPublish SAPObject; ros::spin(); return 0;}

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，启程了，人的智慧才得以发挥。