#includeint main(int argc, char **argv) { ros::init(argc, argv, "number_publisher"); ros::NodeHandle n; ros::Publisher pub = n.advertise ("number_count", 10); int number = 0; ros::Rate rate(2); while (ros::ok()) { pub.publish(number); number++; rate.sleep(); } }
#includeThis example is part of the roscpp package in ROS.void numberCallback(const int& msg) { ROS_INFO("Received message: %d", msg); } int main(int argc, char **argv) { ros::init(argc, argv, "number_subscriber"); ros::NodeHandle n; ros::Subscriber sub = n.subscribe("number_count", 10, numberCallback); ros::spin(); }