使用rosserial_msgs/TopicInfo来和微控制器通讯控制两个电机的c++代码

以下是使用rosserial_msgs/TopicInfo来与微控制器通信控制两个电机的C++代码示例：

#include <ros.h>
#include <std_msgs/Int32.h>
#include <ros/time.h>
#include <ros/duration.h>
#include <ros/node_handle.h>
#include <rosserial_msgs/TopicInfo.h>

ros::NodeHandle nh;
std_msgs::Int32 motor1_msg; // message for motor 1
std_msgs::Int32 motor2_msg; // message for motor 2
ros::Publisher motor1_pub("motor1", &motor1_msg); // publisher for motor 1
ros::Publisher motor2_pub("motor2", &motor2_msg); // publisher for motor 2
ros::Subscriber<rosserial_msgs::TopicInfo> topic_info_sub("rosserial/topics", &topic_info_callback); // subscriber for topic info

void topic_info_callback(const rosserial_msgs::TopicInfo& topic_info_msg) {
  if (strcmp(topic_info_msg.topic_name, "motor1") == 0) { // check if topic is for motor 1
    motor1_msg.data = topic_info_msg.message_id; // set motor speed based on message id
    motor1_pub.publish(&motor1_msg); // publish motor speed message
  }
  else if (strcmp(topic_info_msg.topic_name, "motor2") == 0) { // check if topic is for motor 2
    motor2_msg.data = topic_info_msg.message_id; // set motor speed based on message id
    motor2_pub.publish(&motor2_msg); // publish motor speed message
  }
}

void setup() {
  nh.initNode(); // initialize node
  nh.subscribe(topic_info_sub); // subscribe to topic info messages
  nh.advertise(motor1_pub); // advertise motor 1 publisher
  nh.advertise(motor2_pub); // advertise motor 2 publisher
}

void loop() {
  nh.spinOnce(); // spin the node
}

注意：此代码仅作为示例，需要根据具体的硬件和通信协议进行修改和适配。