cd ~/testROS_ws/src/topic_publisher/src

创建代码pose_subscriber.cpp

/*** 该例程将订阅/turtle1/pose话题，消息类型turtlesim::Pose*/#include <ros/ros.h>
#include "turtlesim/Pose.h"// 接收到订阅的消息后，会进入消息回调函数
void poseCallback(const turtlesim::Pose::ConstPtr& msg)
{// 将接收到的消息打印出来ROS_INFO("Turtle pose: x:%0.6f, y:%0.6f", msg->x, msg->y);
}int main(int argc, char **argv)
{// 初始化ROS节点ros::init(argc, argv, "pose_subscriber");// 创建节点句柄ros::NodeHandle n;// 创建一个Subscriber，订阅名为/turtle1/pose的topic，注册回调函数poseCallbackros::Subscriber pose_sub = n.subscribe("/turtle1/pose", 10, poseCallback);// 循环等待回调函数ros::spin();return 0;
}

３.编译代码

３.1修改cmakelists.txt

添加这两句：

add_executable(pose_subscriber src/pose_subscriber.cpp)target_link_libraries(pose_subscriber ${catkin_LIBRARIES})

python代码

#!/usr/bin/env python
# -*- coding: utf-8 -*-
# 该例程将订阅/turtle1/pose话题，消息类型turtlesim::Poseimport rospy
from turtlesim.msg import Posedef poseCallback(msg):rospy.loginfo("Turtle pose: x:%0.6f, y:%0.6f", msg.x, msg.y)def pose_subscriber():# ROS节点初始化rospy.init_node('pose_subscriber', anonymous=True)# 创建一个Subscriber，订阅名为/turtle1/pose的topic，注册回调函数poseCallbackrospy.Subscriber("/turtle1/pose", Pose, poseCallback)# 循环等待回调函数rospy.spin()if __name__ == '__main__':pose_subscriber()