發布者跟訂閱者都ok了, 現在要建立節點:

cmake_minimum_required(VERSION 2.8.3)
project(beginner_tutorials)

## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg)

## Declare ROS messages and services
add_message_files(DIRECTORY msg FILES Num.msg)
add_service_files(DIRECTORY srv FILES AddTwoInts.srv)

## Generate added messages and services
generate_messages(DEPENDENCIES std_msgs)

## Declare a catkin package
catkin_package()

修改CMakeLists.txt

尾部增加這個:

add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker beginner_tutorials_generate_messages_cpp)

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener beginner_tutorials_generate_messages_cpp)

catkin_make一下吧.

開始運行吧:

$ cd ~/catkin_ws
$ source ./devel/setup.bash

首先talker:

$ rosrun beginner_tutorials talker 

然後另一個窗口

$ rosrun beginner_tutorials listener 

通過rosrun rqt_graph rqt_graph看看topic的中轉吧:

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