Working with ROS topics

Topics are the basic way of communicating between two nodes. In this section, we can see how the topics works. We are going to create two ROS nodes for publishing a topic and subscribing the same. Navigate to the mastering_ros_demo_pkg folder, joining the /src subdirectory for the source code. demo_topic_publisher.cpp and demo_topic_subscriber.cpp are the two sets of code that we are going to discuss.