http://www.autolabor.com.cn/book/ROSTutorials/

#include "ros/ros.h"
#include "plumbing_pubsub/Person.h"

void doPerson(const plumbing_pubsub::Person::ConstPtr&  person){
            ROS_INFO("订阅人的信息：%s,%d,%.2f",person->name.c_str(),person->age,person->height);
}

int main(int argc, char *argv[])
{
    setlocale(LC_ALL,"");
    ROS_INFO("订阅方实现");

    ros::init(argc,argv,"jiaZhang");

    ros::NodeHandle nh;

    ros::Subscriber sub = nh.subscribe("liaoTian",10,doPerson);

   ros::spin();


    return 0;
}