ros一个节点创建两个ros多线程的C++程序

这里提供一个简单的例子，使用C++编写，使用ros::AsyncSpinner实现多线程：

#include <ros/ros.h>
#include <std_msgs/Int32.h>
#include <thread>

void thread1_func()
{
    ros::NodeHandle nh;
    ros::Publisher pub = nh.advertise<std_msgs::Int32>("thread1_topic", 10);
    ros::Rate rate(10);

    int count = 0;
    while (ros::ok())
    {
        std_msgs::Int32 msg;
        msg.data = count++;
        pub.publish(msg);
        rate.sleep();
    }
}

void thread2_func()
{
    ros::NodeHandle nh;
    ros::Publisher pub = nh.advertise<std_msgs::Int32>("thread2_topic", 10);
    ros::Rate rate(10);

    int count = 0;
    while (ros::ok())
    {
        std_msgs::Int32 msg;
        msg.data = count++;
        pub.publish(msg);
        rate.sleep();
    }
}

int main(int argc, char** argv)
{
    ros::init(argc, argv, "multi_thread_node");

    std::thread thread1(thread1_func);
    std::thread thread2(thread2_func);

    ros::AsyncSpinner spinner(2);
    spinner.start();
    ros::waitForShutdown();

    thread1.join();
    thread2.join();

    return 0;
}

上述程序创建了两个线程，分别发布“thread1_topic”和“thread2_topic”的Int32消息。在主线程中使用ros::AsyncSpinner启动两个线程，等待ros节点关闭后，再join两个线程。