1. 編寫cpp檔案

//example1_a.cpp
#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "example1_a");
  ros::NodeHandle n;
  ros::Publisher pub = n.advertise<std_msgs::String>("message", 1000);
  ros::Rate loop_rate(10);
  while
 
 (ros::ok())
  {
    std_msgs::String msg;
    std::stringstream ss;
    ss << " I am the example1_a node ";
    msg.data = ss.str();
    //ROS_INFO("%s", msg.data.c_str());
    pub.publish(msg);
    ros::spinOnce();
    loop_rate.sleep();
  }
  return 0;
}

//

//example1_b.cpp
#include "ros/ros.h"
#include
 
 "std_msgs/String.h"

void messageCallback(const std_msgs::String::ConstPtr& msg)
{
  ROS_INFO("I heard: [%s]", msg->data.c_str());
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "example1_b");
  ros::NodeHandle n;
  ros::Subscriber sub = n.subscribe("message", 1000, messageCallback);
  ros::spin
 
();
  return 0;
}

1. 編譯節點

rosed chapter2_tutorials CMakeLists.txt

新增如下內容至檔案末尾

include_directories(
    include
    ${catkin_INCLUDE_DIRS}
)

add_executable(chap2_example1_a src/example1_a.cpp)
add_executable(chap2_example1_b src/example1_b.cpp)

add_dependencies(chap2_example1_a chapter2_tutorials_generate_messages_cpp)
add_dependencies(chap2_example1_b chapter2_tutorials_generate_messages_cpp)

target_link_libraries(chap2_example1_a ${catkin_LIBRARIES})
target_link_libraries(chap2_example1_b ${catkin_LIBRARIES})

1. 執行

roscore         //在三個新終端中執行
rosrun chapter2_tutorials chap2_example1_a
rosrun chapter2_tutorials chap2_example1_b

1. 注意事項
   在新的命令列下可能會出現無法找到新建的包的情況，需要更新一下
   在 ~/dev/catkin_ws/src 目錄下，輸入命令

source devel/setup.bash

或許也需要重新編譯一下，輸入命令如下

catkin_make     //在 ~/dev/catkin_ws/ 目錄下
//或者
catkin_make chapter2_tutorials