ROS_Kinetic_10 ROS程序基础Eclipse_C++（一）

ROS_Kinetic_10 ROS程序基础Eclipse_C++（一）

编写简单的消息发布器和订阅器 (C++)

http://wiki.ros.org/cn/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29

这里简单用Eclipse实现一下。

首相将talker.cpp和listener.cpp复制到hello_kinetic/src目录下；

然后修改CMakeLists.txt；加入下列代码：

## Build talker and listener
include_directories(include ${catkin_INCLUDE_DIRS})

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

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

注意，可执行的节点不能重名，这里为kinetic_talker和kinetic_listener。

然后，就可以编译了，编译完成后。

开启终端，启动roscore：

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