www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/UseAROSSubscriberObjectExample.m

    %% Use ROS Subscriber Object
% Use a ROS |Subscriber| object to receive messages over the ROS network.

% Copyright 2015 The MathWorks, Inc.


%%
% Start the ROS master and node.
master = robotics.ros.Core;
node = robotics.ros.Node('/test');
%%
% Create a publisher and subscriber to send and receive a message over the
% ROS network.
pub = robotics.ros.Publisher(node,'/chatter','std_msgs/String');
pause(1)
sub = robotics.ros.Subscriber(node,'/chatter','std_msgs/String');

%%
% Send a message over the network.
msg = rosmessage(rostype.std_msgs_String);
msg.Data = 'hello world';
send(pub,msg)

%%
% View the message data using the |LatestMesasge| property of the |Subscriber|
% object.
pause(1)
sub.LatestMessage

%%
% Clear the publisher, subscriber, and ROS node. Shut down the ROS master.
clear('pub','sub','node')
clear('master')