通信机制
| rostopic | rosservice |
|
rosmsg |
rossrv |
|
publish and subscribe |
client request and server response |
|
ros::Publisher nh.advertise pub.publish |
ros::ServiceClient, nh.serviceClient client.call |
|
ros::Subscriber nh.subscribe ros::spin |
ros::ServiceServer, nh.advertiseService ros::spin |
命令
rosrun package-name executable-name
计算图源: node,topic,serivice,参数
#include <package_name/type_name.h>