5.ROS话题通信编程(万字详解)

// 全局命名空间:topic=/chatter

ros::Publisher pub = nh.advertise<std_msgs::String>("/chatter",10);


// 相对命名空间:topic=/default_namespace/chatter

ros::NodeHandle nh("dr");

ros::Publisher pub = nh.advertise<std_msgs::String>("chatter",10);

// 相对命名空间:topic= /node_name/namespace/ chatter  

ros::NodeHandle nh("~dr");

ros::Publisher pub = nh.advertise<std_msgs::String>("chatter",10);


// 私有命名空间:topic=/node_name/chatter

ros::NodeHandle nh("~");

ros::Publisher pub = nh.advertise<std_msgs::String>("chatter",10);

当我们的topic设置为“/chatter”（带有斜杠）且全局优先级最高，因此topic不会受到namspace和node_name的影响。

rosrun命令行设置：

除此之外，还可以使用rosrun给该.cpp文件中所有的属性添加相对命名空间，具体形式为：rosrun package_name cpp_name __ns:="hello"，运行结果如下所示：

在该节点所在文件中所有的话题、所有的上报参数、所有的节点名称都将加上/hello/的前缀。

注意：__ns:=”global_namespace”是双下划线。

3.3.2 C++实现

1 发布者C++代码

// 1.包含头文件

#include "ros/ros.h"

#include "std_msgs/String.h"    //普通文本类型的消息

#include <sstream>



int main(int argc, char *argv[])

{   

    //设置编码

    setlocale(LC_ALL,"");



    //2.初始化ROS节点:命名(唯一)

    // 参数1和参数2 后期为节点传值会使用

    // 参数3 是节点名称，是一个标识符，需要保证运行后，在 ROS 网络拓扑中唯一

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



    //3.实例化ROS句柄

    ros::NodeHandle nh;//该类封装了 ROS 中的一些常用功能



    //4.实例化发布者对象

    //泛型: 发布的消息类型

    //参数1: 要发布到的话题

    //参数2: 队列中最大保存的消息数，超出此阀值时，先进的先销毁(时间早的先销毁)

    ros::Publisher pub = nh.advertise<std_msgs::String>("chatter",1000);



    //5.组织被发布的数据，并编写逻辑发布数据

    //数据(动态组织)

    std_msgs::String msg;

    // msg.data = "你好啊！！！";

    std::string msg_front = "Hello 你好！";   //消息前缀

    int count = 0;    //消息计数器



    //逻辑(一秒10次)

    ros::Rate r(10);



    //节点不死

    while (ros::ok())

    {

        //使用 stringstream 拼接字符串与编号

        std::stringstream ss;

        ss << msg_front << count;

        msg.data = ss.str();



        //发布消息

        pub.publish(msg);

        //加入调试，打印发送的消息

        ROS_INFO("发送的消息:%s",msg.data.c_str());



        //根据前面制定的发送贫频率自动休眠 休眠时间 = 1/频率；

        r.sleep();

        count++;//循环结束前，让 count 自增

        //暂无应用

        ros::spinOnce();

    }


    return 0;

}

2 订阅者C++代码

// 1.包含头文件

#include "ros/ros.h"

#include "std_msgs/String.h"



void doMsg(const std_msgs::String::ConstPtr& msg_p){

    ROS_INFO("我听见:%s",msg_p->data.c_str());

    // ROS_INFO("我听见:%s",(*msg_p).data.c_str());

}

int main(int argc, char  *argv[])

{

setlocale(LC_ALL,"");



    //2.初始化 ROS 节点:命名(唯一)

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



    //3.实例化 ROS 句柄

    ros::NodeHandle nh;



    //4.实例化 订阅者 对象

ros::Subscriber sub = nh.subscribe<std_msgs::String>("chatter",10,doMsg);



    //5.处理订阅的消息(回调函数)



    //6.设置循环调用回调函数

    ros::spin();//循环读取接收的数据，并调用回调函数处理



    return 0;

}

3 配置CMakeLists.txt

add_executable(Hello_pub

  src/Hello_pub.cpp

)

add_executable(Hello_sub

  src/Hello_sub.cpp

)



target_link_libraries(Hello_pub

  ${catkin_LIBRARIES}

)

target_link_libraries(Hello_sub

  ${catkin_LIBRARIES}

)

执行:在VScode中添加两个终端:

roscore
source ./devel/setup.bash
rosrun 包名节点名

3.3.3 python实现

1 发布者python代码

#! /usr/bin/env python

#coding=utf-8



#1.导包

import rospy

from std_msgs.msg import String



if __name__ == "__main__":

    #2.初始化 ROS 节点:命名(唯一)

rospy.init_node("talker_p")



    #3.实例化 发布者 对象

pub = rospy.Publisher("chatter",String,queue_size=10)



    #4.组织被发布的数据，并编写逻辑发布数据

    msg = String()  #创建 msg 对象

    msg_front = "hello 你好"

count = 0  #计数器



    # 设置循环频率

rate = rospy.Rate(1)



    while not rospy.is_shutdown():



        #拼接字符串

        msg.data = msg_front + str(count)



        pub.publish(msg)



        rate.sleep()



        rospy.loginfo("写出的数据:%s",msg.data)



        count += 1

2 订阅者python代码

#! /usr/bin/env python

#coding=utf-8



#1.导包

import rospy

from std_msgs.msg import String



def doMsg(msg):

    rospy.loginfo("I heard:%s",msg.data)



if __name__ == "__main__":

    #2.初始化 ROS 节点:命名(唯一)

    rospy.init_node("listener_p")

    #3.实例化 订阅者 对象

    sub = rospy.Subscriber("chatter",String,doMsg,queue_size=10)

    #4.处理订阅的消息(回调函数)

    #5.设置循环调用回调函数

    rospy.spin()

3 添加可执行权限

终端下进入scripts 执行: chmod +x *.py

4 配置CMakeLists.txt

catkin_install_python(PROGRAMS

  scripts/talker_p.py

  scripts/listener_p.py

  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

)

执行:在VScode中添加两个终端:

roscore
source ./devel/setup.bash
rosrun 包名节点名.py

3.3.4 自定义msg文件

1 消息(msg)

在 ROS 通信协议中，数据载体是一个较为重要组成部分，ROS 中通过 std_msgs 封装了一些原生的数据类型,比如:String、Int32、Int64、Char、Bool、Empty.... 但是，这些数据一般只包含一个 data 字段，结构的单一意味着功能上的局限性。

msgs只是简单的文本文件，每行具有字段类型和字段名称，可以使用的字段类型有：

int8, int16, int32, int64 (或者无符号类型: uint*)
float32, float64
string
time, duration
other msg files
variable-length array[] and fixed-length array[C]

ROS中还有一种特殊类型：Header，标头包含时间戳和ROS中常用的坐标帧信息。会经常看到msg文件的第一行具有Header标头。

Primitive Type	Serialization	C++	Python2	Python3
bool (1)	unsigned 8-bit int	uint8_t (2)	bool
int8	signed 8-bit int	int8_t	int
uint8	unsigned 8-bit int	uint8_t	int (3)
int16	signed 16-bit int	int16_t	int
uint16	unsigned 16-bit int	uint16_t	int
int32	signed 32-bit int	int32_t	int
uint32	unsigned 32-bit int	uint32_t	int
int64	signed 64-bit int	int64_t	long	int
uint64	unsigned 64-bit int	uint64_t	long	int
float32	32-bit IEEE float	float	float
float64	64-bit IEEE float	double	float
string	ascii string (4)	std::string	str	bytes
time	secs/nsecs unsigned 32-bit ints	ros::Time	rospy.Time
duration	secs/nsecs signed 32-bit ints	ros::Duration	rospy.Duration

2 编写msg文件

流程:

按照固定格式创建 msg 文件
编辑配置文件
编译生成可以被 Python 或 C++ 调用的中间文件

功能包下新建msg目录，添加文件 Person.msg

string name

uint16 age

float64 height

3 编辑package.xml文件

我们要确保msg文件被转换成为C++，Python和其他语言的源代码：查看package.xml, 确保它包含以下两条语句:

<build_depend>message_generation</build_depend>

<exec_depend>message_runtime</exec_depend>

注意，在构建的时候，我们只需要"message_generation"。然而，在运行的时候，我们只需要"message_runtime"。

4 编辑CMakeLists.txt文件

CMakeLists.txt编辑 msg 相关配置

find_package(catkin REQUIRED COMPONENTS

roscpp

rospy

std_msgs

message_generation

)

# 需要加入 message_generation,必须有 std_msgs

## 配置 msg 源文件

add_message_files(

FILES

Person.msg

)

# 生成消息时依赖于 std_msgs

generate_messages(

DEPENDENCIES

std_msgs

)

#执行时依赖

catkin_package(

# INCLUDE_DIRS include

# LIBRARIES demo02_talker_listener

CATKIN_DEPENDS roscpp rospy std_msgs message_runtime

# DEPENDS system_lib

)

5 编译后的头文件或库文件

编译后的中间文件查看:

C++ 需要调用的中间文件(.../工作空间/devel/include/包名/xxx.h)

Python 需要调用的中间文件(.../工作空间/devel/lib/python3/dist-packages/包名/msg)

3.3.5 C++中使用自定义msg

1 vscode 配置

为了方便代码提示以及避免误抛异常，需要先配置vscode，将前面生成的head文件路径配置进 c_cpp_properties.json 的 includepath属性:

{

    "configurations": [

        {

            "browse": {

                "databaseFilename": "",

                "limitSymbolsToIncludedHeaders": true

            },

            "includePath": [

                "/opt/ros/noetic/include/**",

                "/usr/include/**",

                "/xxx/yyy工作空间/devel/include/**"   //配置 head 文件的路径

            ],

            "name": "ROS",

            "intelliSenseMode": "gcc-x64",

            "compilerPath": "/usr/bin/gcc",

            "cStandard": "c11",

            "cppStandard": "c++17"

        }

    ],

    "version": 4

}

2 发布者

#include "ros/ros.h"

#include "demo02_talker_listener/Person.h"



int main(int argc, char *argv[])

{

    setlocale(LC_ALL,"");



    //1.初始化 ROS 节点

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



    //2.创建 ROS 句柄

    ros::NodeHandle nh;



    //3.创建发布者对象

    ros::Publisher pub = nh.advertise<demo02_talker_listener::Person>("chatter_person",1000);



    //4.组织被发布的消息，编写发布逻辑并发布消息

    demo02_talker_listener::Person p;

    p.name = "sunwukong";

    p.age = 2000;

    p.height = 1.45;



    ros::Rate r(1);

    while (ros::ok())

    {

        pub.publish(p);

        p.age += 1;

        ROS_INFO("我叫:%s,今年%d岁,高%.2f米", p.name.c_str(), p.age, p.height);



        r.sleep();

        ros::spinOnce();

    }



    return 0;

}

3 订阅者

#include "ros/ros.h"

#include "demo02_talker_listener/Person.h"



void doPerson(const demo02_talker_listener::Person::ConstPtr& person_p)

{

    ROS_INFO("订阅的人信息:%s, %d, %.2f", person_p->name.c_str(), person_p->age, person_p->height);

}



int main(int argc, char *argv[])

{   

    setlocale(LC_ALL,"");



    //1.初始化 ROS 节点

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

    //2.创建 ROS 句柄

    ros::NodeHandle nh;

    //3.创建订阅对象

    ros::Subscriber sub = nh.subscribe<demo02_talker_listener::Person>("chatter_person",10,doPerson);



    //4.回调函数中处理 person



    //5.ros::spin();

    ros::spin();    

    return 0;

}

4.配置 CMakeLists.txt

需要添加 add_dependencies 用以设置所依赖的消息相关的中间文件。

add_executable(person_talker(节点名) src/person_talker.cpp)

add_executable(person_listener(节点名) src/person_listener.cpp)

add_dependencies(person_talker ${PROJECT_NAME}_generate_messages_cpp)

add_dependencies(person_listener ${PROJECT_NAME}_generate_messages_cpp)

target_link_libraries(person_talker

${catkin_LIBRARIES}

)

target_link_libraries(person_listener

${catkin_LIBRARIES}

)

5.执行

1.启动 roscore;

2.启动发布节点;

source ./devel/setup.bash

rosrun 包名节点名

3.启动订阅节点。

source ./devel/setup.bash

rosrun 包名节点名

4.使用rostopic命令或rqt_graph

3.3.5 python中使用自定义msg

1 vscode配置

为了方便代码提示以及误抛异常，需要先配置vscode，将前面生成的 python 文件路径配置进 settings.json

{

"python.autoComplete.extraPaths": [

"/opt/ros/noetic/lib/python3/dist-packages",

"/xxx/yyy工作空间/devel/lib/python3/dist-packages"

]

}

2 发布者

#! /usr/bin/env python

#coding=utf-8

import rospy

from demo02_talker_listener.msg import Person

if __name__ == "__main__":

#1.初始化 ROS 节点

rospy.init_node("talker_person_p")

#2.创建发布者对象

pub = rospy.Publisher("chatter_person",Person,queue_size=10)

#3.组织消息

p = Person()

p.name = "葫芦瓦"

p.age = 18

p.height = 0.75

#4.编写消息发布逻辑

rate = rospy.Rate(1)

while not rospy.is_shutdown():

pub.publish(p) #发布消息

rate.sleep() #休眠

rospy.loginfo("姓名:%s, 年龄:%d, 身高:%.2f",p.name, p.age, p.height)

3 订阅者

#! /usr/bin/env python

#coding=utf-8

import rospy

from demo02_talker_listener.msg import Person

def doPerson(p):

rospy.loginfo("接收到的人的信息:%s, %d, %.2f",p.name, p.age, p.height)

if __name__ == "__main__":

#1.初始化节点

rospy.init_node("listener_person_p")

#2.创建订阅者对象

sub = rospy.Subscriber("chatter_person",Person,doPerson,queue_size=10)

rospy.spin() #4.循环

4.权限设置

终端下进入 scripts 执行:chmod +x *.py

5.配置 CMakeLists.txt

catkin_install_python(PROGRAMS

scripts/person_talker.py

scripts/person_listener.py

DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

)

6.执行

1.启动 roscore;

2.启动发布节点;

source ./devel/setup.bash

rosrun 包名节点名.py

3.启动订阅节点。

source ./devel/setup.bash

rosrun 包名节点名.py

3.3.6 相关命令行命令或图形工具

1 rosmsg命令

rosmsg是用于显示有关ROS消息类型的信息的命令行工具。

rosmsg list 列出所有消息

rosmsg package 显示某个功能包下的所有消息ros

rosmsg show 显示消息描述

rosmsg info 显示消息信息

rosmsg md5 显示 md5 加密后的消息

rosmsg packages 列出包含消息的功能包

2 rostopic命令

rostopic命令工具能让你获取有关ROS话题的信息。

rostopic list list active topics

rostopic info print information about active topic

rostopic type print topic or field type

rostopic pub publish data to topic

rostopic echo print messages to screen

rostopic bw display bandwidth used by topic

rostopic hz display publishing rate of topic

3 rqt_graph工具

在ROS系统中，rqt_graph以图形的方式查看节点之间的连接关系，显示节点之间的发布-订阅关系。执行命令：

rqt_graph
rosrun rqt_graph rqt_graph

4 rqt_msg工具

在ROS系统中，rqt_msg以图形的方式查看系统中的所有消息数据类型。执行命令：

rosrun rqt_msg rqt_msg

5 rqt_topic工具

在ROS系统中，rqt_topic以图形的方式查看系统中的所有话题，并进行实时的监测。执行命令：

rosrun rqt_topic rqt_topic

6 rqt_publisher工具

在ROS系统中，rqt_publisher以图形的方式发布具有固定或计算字段值的任意消息。执行命令：

rosrun rqt_publisher rqt_publisher

3.3.7 话题通信相关API

1. geometry_msgs

geometry_msgs 是 ROS（Robot Operating System）中一个常用的消息包，用于表示机器人系统中几何形状和变换。它包括了一系列消息类型，如 Point, Vector3, Quaternion, Pose, Twist 等。这些消息类型在机器人定位、导航、控制等任务中非常有用。

1) geometry_msgs/Point.msg

Point 用于表示三维空间中的一个点。它有三个浮点类型的成员变量：x, y, z。

#include <geometry_msgs/Point.h>

geometry_msgs::Point point;

point.x = 1.0;

point.y = 2.0;

point.z = 3.0;

2) geometry_msgs/Vector3.msg

Vector3 用于表示三维空间中的一个向量。它同样有三个浮点类型的成员变量：x, y, z。

#include <geometry_msgs/Vector3.h>

geometry_msgs::Vector3 vector;

vector.x = 1.0;

vector.y = 2.0;

vector.z = 3.0;

3) geometry_msgs/Quaternion.msg

Quaternion 用于表示四元数，用于描述三维空间中的旋转。它有四个浮点类型的成员变量：x, y, z, w。

#include <geometry_msgs/Quaternion.h>

geometry_msgs::Quaternion quaternion;

quaternion.x = 0.0;

quaternion.y = 0.0;

quaternion.z = 0.0;

quaternion.w = 1.0;

4) geometry_msgs/Pose.msg

Pose 用于表示机器人在三维空间中的位置和方向。它包括一个 Point 类型的成员变量 position 和一个 Quaternion 类型的成员变量 orientation。

#include <geometry_msgs/Pose.h>

geometry_msgs::Pose pose;

pose.position.x = 1.0;

pose.position.y = 2.0;

pose.position.z = 3.0;

pose.orientation.x = 0.0;

pose.orientation.y = 0.0;

pose.orientation.z = 0.0;

pose.orientation.w = 1.0;

5) geometry_msgs/Twist.msg

Twist 用于表示机器人的线速度和角速度。它包括两个 Vector3 类型的成员变量：linear 和 angular。

#include <geometry_msgs/Twist.h>

geometry_msgs::Twist twist;

twist.linear.x = 1.0;

twist.linear.y = 0.0;

twist.linear.z = 0.0;

twist.angular.x = 0.0;

twist.angular.y = 0.0;

twist.angular.z = 1.0;

2. C++API

1) NodeHandle类中话题相关功能

获得Publisher对象

template<class M >
Publisher	advertise (const std::string &topic, uint32_t queue_size, bool latch=false)
	Advertise a topic, simple version. More...
template<class M >
Publisher	advertise (const std::string &topic, uint32_t queue_size, const SubscriberStatusCallback &connect_cb, const SubscriberStatusCallback &disconnect_cb=SubscriberStatusCallback(), const VoidConstPtr &tracked_object=VoidConstPtr(), bool latch=false)

获得Subscriber对象

emplate<class M , class C >
Subscriber	subscribe (const std::string &topic, uint32_t queue_size, const boost::function< void(C)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr(), const TransportHints &transport_hints=TransportHints())
template<class M >
Subscriber	subscribe (const std::string &topic, uint32_t queue_size, const boost::function< void(const boost::shared_ptr< M const > &)> &callback, const VoidConstPtr &tracked_object=VoidConstPtr(), const TransportHints &transport_hints=TransportHints())
template<class M >
Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(*fp)(const boost::shared_ptr< M const > &), const TransportHints &transport_hints=TransportHints())
template<class M >
Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(*fp)(M), const TransportHints &transport_hints=TransportHints())
template<class M , class T >
Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(const boost::shared_ptr< M const > &) const, const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())
template<class M , class T >
Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(const boost::shared_ptr< M const > &) const, T obj, const TransportHints &transport_hints=TransportHints())
template<class M , class T >
Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(const boost::shared_ptr< M const > &), const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())
template<class M , class T >
Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(const boost::shared_ptr< M const > &), T obj, const TransportHints &transport_hints=TransportHints())
template<class M , class T >
Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(M) const, const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())
template<class M , class T >
Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(M) const, T obj, const TransportHints &transport_hints=TransportHints())
	and the const version More...
template<class M , class T >
Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::*fp)(M), const boost::shared_ptr< T > &obj, const TransportHints &transport_hints=TransportHints())
template<class M , class T >
Subscriber	subscribe (const std::string &topic, uint32_t queue_size, void(T::fp)(M), T obj, const TransportHints &transport_hints=TransportHints())

2) Publisher类

Manages an advertisement on a specific topic.

A Publisher should always be created through a call to NodeHandle::advertise(), or copied from one that was. Once all copies of a specific Publisher go out of scope, any subscriber status callbacks associated with that handle will stop being called. Once all Publishers for a given topic go out of scope the topic will be unadvertised.

发布对象获取

publisher advertise(const std::string& topic, uint32_t queue_size, bool latch = false)

* 在 ROS master 注册并返回一个发布者对象，该对象可以发布消息

* 使用示例如下:

* ros::Publisher pub = handle.advertise<std_msgs::Empty>("my_topic", 1);

* param topic 发布消息使用的话题

* param queue_size 等待发送给订阅者的最大消息数量

* param latch (optional) 如果为 true,该话题发布的最后一条消息将被保存，并且后期当有订阅者连接时会将该消息发送给订阅者

* return 调用成功时，会返回一个发布对象

消息发布函数

void publish(const M& message) const

boost::function< void( const SubscriberLinkPtr &)>	getLastMessageCallback ()
uint32_t	getNumSubscribers () const
	Returns the number of subscribers that are currently connected to this Publisher. More...
std::string	getTopic () const
	Returns the topic that this Publisher will publish on. More...
bool	isLatched () const
	Returns whether or not this topic is latched. More...
	operator void * () const
bool	operator!= (const Publisher &rhs) const
bool	operator< (const Publisher &rhs) const
Publisher &	operator= (const Publisher &other)=default
bool	operator== (const Publisher &rhs) const
template<typename M >
void	publish (const boost::shared_ptr< M > &message) const
	Publish a message on the topic associated with this Publisher. More...
template<typename M >
void	publish (const M &message) const
	Publish a message on the topic associated with this Publisher. More...
	Publisher ()
	Publisher (const Publisher &rhs)
void	shutdown ()
	Shutdown the advertisement associated with this Publisher. This method usually does not need to be explicitly called, as automatic shutdown happens when all copies of this Publisher go out of scope This method overrides the automatic reference counted unadvertise, and does so immediately.
	~Publisher ()

3) Subscriber类

Manages an subscription callback on a specific topic.

A Subscriber should always be created through a call to NodeHandle::subscribe(), or copied from one that was. Once all copies of a specific Subscriber go out of scope, the subscription callback associated with that handle will stop being called. Once all Subscriber for a given topic go out of scope the topic will be unsubscribed.

订阅对象获取

Subscriber subscribe(const std::string& topic, uint32_t queue_size, void(*fp)(const boost::shared_ptr<M const>&), const TransportHints& transport_hints = TransportHints())

该函数将根据给定的话题在ROS master注册，并自动连接相同主题的发布方，每接收到一条消息，都会调用回调函数，并且传入该消息的共享指针，该消息不能被修改，因为可能其他订阅对象也会使用该消息。

void callback(const std_msgs::Empty::ConstPtr& message)

{

}

ros::Subscriber sub = handle.subscribe("my_topic", 1, callback);

* param M [template] M 是指消息类型

* param topic 订阅的话题

* param queue_size 消息队列长度，超出长度时，头部的消息将被弃用

* param fp 当订阅到一条消息时，需要执行的回调函数

* return 调用成功时，返回一个订阅者对象，失败时，返回空对象

uint32_t	getNumPublishers () const
	Returns the number of publishers this subscriber is connected to. More...
std::string	getTopic () const
	operator void * () const
bool	operator!= (const Subscriber &rhs) const
bool	operator< (const Subscriber &rhs) const
Subscriber &	operator= (const Subscriber &other)=default
bool	operator== (const Subscriber &rhs) const
void	shutdown ()
	Unsubscribe the callback associated with this Subscriber. This method usually does not need to be explicitly called, as automatic shutdown happens when all copies of this Subscriber go out of scope This method overrides the automatic reference counted unsubscribe, and immediately unsubscribes the callback associated with this Subscriber
	Subscriber ()
	Subscriber (const Subscriber &rhs)
	~Subscriber ()