生成一段c++代码，在ros下运行，程序启动一个tcpip客户端，连接到指定服务端。当连接成功后，启动一个订阅订阅节点pose消息，转发服务端发送来的消息 ，发布到节点pose，转发订阅节点pose的消息到服务端，

生成的代码如下：

#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_msgs/Float64.h"
#include <iostream>
#include <boost/asio.hpp>

using namespace std;
using boost::asio::ip::tcp;

void poseCallback(const std_msgs::Float64& msg)
{
    // Forward the pose message to the server
    // Connect to the server
    boost::asio::io_service io_service;
    tcp::socket socket(io_service);
    tcp::endpoint ep(tcp::v4(), 2000);
    socket.connect(ep);

    // Send the pose message to the server
    boost::system::error_code error;
    std::ostringstream ss;
    ss << msg.data;
    std::string message = ss.str() + "\n";
    boost::asio::write(socket, boost::asio::buffer(message), error);

    // Receive the message from the server
    boost::asio::streambuf response;
    boost::asio::read_until(socket, response, "\n", error);
    std::istream is(&response);
    std::string response_str;
    std::getline(is, response_str);

    // Forward the received message to the pose topic
    std_msgs::Float64 forward_msg;
    istringstream ss_forward(response_str);
    ss_forward >> forward_msg.data;
    ros::NodeHandle n;
    ros::Publisher pose_pub = n.advertise<std_msgs::Float64>("pose", 1000);
    pose_pub.publish(forward_msg);
}

int main(int argc, char **argv)
{
    ros::init(argc, argv, "tcpip_client");
    ros::NodeHandle n;
    ros::Subscriber pose_sub = n.subscribe("pose", 1000, poseCallback);
    ros::spin();
    return 0;
}

这是一个可在ROS中运行的C++程序，它会启动一个TCP/IP客户端，连接到指定的服务器。连接成功后，它将订阅"pose"节点，将来自服务器的消息转发到"pose"话题，并将来自"pose"话题的消息转发回服务器。在poseCallback函数中，我们使用boost::asio库来发送和接收消息。注意，你需要将代码中的ip地址和端口号改为实际的服务器地址和端口号。