ROS的发布消息Publishers和订阅消息Subscribers

程序里面主要是订阅录制好的激光数据（并且scan数据通过rosbag回放），经过一系列几何处理之后进行重新发布出来输出信息，消息之间的发布和订阅如下所示：

lzm@lzm:~$ rostopic info /scan Type: sensor_msgs/LaserScan Publishers: * /play_1602042026551485542 (http://lzm:36033/) Subscribers: * /navigation (http://lzm:45147/) * /feature (http://lzm:44347/) lzm@lzm:~$ rostopic info /scan_deal Type: sensor_msgs/LaserScan Publishers: * /feature (http://lzm:44347/) Subscribers: * /rviz_1602039365042244725 (http://lzm:35289/)