ros_tricks 1 while(ros::ok()) usage example (1) run one terminal roscore (2) run another terminal mkdir ros_ws cd ros_ws git clone https://github.com/biter0088/ros_tricks.git catkin_make rosrun beginner_tutorials talker (3) further information(中文示例) CSDN:https://blog.csdn.net/BIT_HXZ/article/details/128150185