Writing a Simple Publisher and Subscriber (C++)

Writing a Simple Publisher and Subscriber (C++)

Writing the Publisher Node

1) In a terminal, move to your beginner_tutorials folder:

  cd ~/catkin_ws/src/beginner_tutorials 

2) Create the file talker.cpp:

  gedit src/talker.cpp

3) In the gedit editor, paste all from this link. Save the file and close the editor. For information on what is inside this file, see this link. In a nutshell, it initializes the ROS system, advertise what we are doing, and finally loop what we are doing.

Writing the Subscriber Node

1) In a terminal, move to your beginner_tutorials folder:

  cd ~/catkin_ws/src/beginner_tutorials 

2) Create the file listener.cpp:

  gedit src/listener.cpp

3) In the gedit editor, paste all from this link. Save the file and close the editor. For information on what is inside this file, see this link. In a nutshell, it initializes the ROS system, subscribes to the topic 'chatter', spin (wait for messages), when message arrives call the chatterCallback() function.

Building Nodes