ROS多线程编程

int main(int argc, char **argv)
{

  ros::init(argc, argv, "multi_sub");
  multiThreadListener listener_obj;//一个topic接收类
  
  //多线程
  ros::MultiThreadedSpinner s(2);
  ros::spin(s);
  //无多线程
  ros::spin();

  return 0;
}