ROS_Kinetic_10 ROS程序基礎Eclipse_C++（一）
編寫簡單的消息發布器和訂閱器 (C++)
http://wiki.ros.org/cn/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29
這裡簡單用Eclipse實現一下。
首相將talker.cpp和listener.cpp復制到hello_kinetic/src目錄下；
然後修改CMakeLists.txt；加入下列代碼：
## Build talker and listener
include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(kinetic_talker src/talker.cpp)
target_link_libraries(kinetic_talker ${catkin_LIBRARIES})
add_dependencies(kinetic_talker ${catkin_EXPORTED_TARGETS})
add_executable(kinetic_listener src/listener.cpp)
target_link_libraries(kinetic_listener ${catkin_LIBRARIES})
add_dependencies(kinetic_listener ${catkin_EXPORTED_TARGETS})
注意，可執行的節點不能重名，這裡為kinetic_talker和kinetic_listener。
然後，就可以編譯了，編譯完成後。
開啟終端，啟動roscore：
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