按照以下程式傳送訊息，

#include <ros/ros.h>
#include <ros/console.h>

#include <std_msgs/Int32.h>
#include <geometry_msgs/Vector3.h>
#include<iostream>
using namespace std;
int main( int argc, char **argv )
{
  ros::init( argc, argv, "plottest" );
  ros::NodeHandle n;
  ros:
 
:Publisher pub_temp = n.advertise< std_msgs::Int32 >( "temp", 1000 );
  ros::Publisher pub_accel = n.advertise< geometry_msgs::Vector3 >( "accel", 1000 );

  std_msgs::Int32 msg_temp;
  geometry_msgs::Vector3 msg_accel;

  int i = 0;
  ros::Rate rate( 1 );
  while( ros::ok() ) {
    msg_temp.data = i;
    msg_accel.x = 0
 
.1 * i;
    msg_accel.y = 0.2 * i;
    msg_accel.z = 0.3*i;
    pub_temp.publish( msg_temp );
    pub_accel.publish( msg_accel );
    std::cout<<"i="<<i<<endl;
    ++i;
    ros::spinOnce();
    rate.sleep();
  }
  return EXIT_SUCCESS;

}

執行

rosrun rqt_plot rqt_plot

開啟rqt_plot
在topic中輸入訂閱的topic

如圖