boost::bind with ros topic,ros中subscribe用boost::bind绑定多个参数
#include <unistd.h>
using namespace std;
//打开ioNum
void callBack_io(const disinfect_msg::disinfect_msg::ConstPtr & msg,SerialPort *serial){
serial->sendWriteData(msg->ioId,msg->ioFlag);
cout<<"msg.ioId: "<<msg->ioId<<" --- msg.ioFlag: "<<msg->ioId<<endl;
}
int main(int argc, char **argv) {
string nodeName = "serial_server";
//创建节点
ros::init(argc, argv, nodeName,ros::init_options::AnonymousName);
ros::NodeHandle node;
SerialPort serial;
ros::Subscriber sub_io =node.subscribe<disinfect_msg::disinfect_msg>("serialControlIo_node",5,boost::bind(&callBack_io, _1, &serial));
update_func(serial);
return 0;
}