ROS topic订阅一帧数据(c++)

按需求订阅一帧topic

//以订阅话题“/hello”，消息类型为std_msgs::String为例子
#include 
#include 
#include 

int main(int argc, char **argv){
	ros::init("sub_test", argc, argv);
	boost::shared_ptr msg;

	
	msg = ros::topic::waitForMessage("hello", ros::Duration(0.5));
	if(msg!=NULL){//必须要判断，否则为NULL时调用该消息的成员会core dump
		std::cout<data<