Topics are the basic way of communicating between two nodes. In this section, we can see how the topics works. We are going to create two ROS nodes for publishing a topic and subscribing the same. Navigate to the mastering_ros_demo_pkg folder, joining the /src subdirectory for the source code. demo_topic_publisher.cpp and demo_topic_subscriber.cpp are the two sets of code that we are going to discuss.
Working with ROS topics
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