#include?“ros/ros.h“
#include?“gps/gps.h“
#include?

void?gpsCallback（const?gps::gps::ConstPtr?&msg）
{
??ROS_INFO（“Header:%s“msg->Header.c_str（））;
??ROS_INFO（“GPSWeek:%s“msg->GPSWeek.c_str（））;
??ROS_INFO（“GPSTime:%s“msg->GPSTime.c_str（））;
??ROS_INFO（“Heading:%s“msg->Heading.c_str（））;
??ROS_INFO（“Pitch:%s“msg->Pitch.c_str（））;
??ROS_INFO（“Roll:%s“msg->Roll.c_str（））;
??ROS_INFO（“Lattitude:%s“msg->Lattitude.c_str（））;
??ROS_INFO（“Longitude:%s“msg->Longitude.c_str（））;
??ROS_INFO（“Altitude:%s“msg->Altitude.c_str（））;
??ROS_INFO（“Ve:%s“msg->Ve.c_str（））;
??ROS_INFO（“Vn:%s“msg->Vn.c_str（））;
??ROS_INFO（“Vu:%s“msg->Vu.c_str（））;
??ROS_INFO（“baseline:%s“msg->baseline.c_str（））;
??ROS_INFO（“NSV1:%s“msg->NSV1.c_str（））;
??ROS_INFO（“NSV2:%s“msg->NSV2.c_str（））;
??ROS_INFO（“Status:%s“msg->Status.c_str（））;
??ROS_INFO（“Cs:%s“msg->Cs.c_str（））;
??ROS_INFO（“CrLf:%s“msg->CrLf.c_str（））;
}

int?main（int?argc?char?**argv）?
{
??ros::init（argc?argv?“listener“）;?//
??ros::NodeHandle?n;?????????????????//
??ros::Subscriber?sub?=?n.subscribe（“gps_info“?1?gpsCallback）;?//創建subscriber
??ros::spin（）;?//反復調用當前可觸發的回調函數，阻塞
??return?0;
}

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-10-14?10:03??gps\
?????文件????????7432??2019-10-14?10:03??gps\CMakeLists.txt
?????目錄???????????0??2019-10-14?10:04??gps\include\
?????目錄???????????0??2019-10-26?09:38??gps\include\gps\
?????目錄???????????0??2019-10-09?05:43??gps\msg\
?????文件?????????240??2019-10-09?05:43??gps\msg\gps.msg
?????文件????????3022??2019-10-14?10:03??gps\package.xml
?????目錄???????????0??2019-10-14?10:07??gps\src\
?????文件????????1194??2019-10-14?10:07??gps\src\listener.cpp
?????文件????????8794??2019-10-15?02:59??gps\src\talker.cpp