Publish message publishers and subscribe message subscribers of ROS

The program mainly subscribes to the recorded laser data （ also scan Data is passed through rosbag The playback ）, After a series of geometric processing, it is republished to output information , The publication and subscription between messages are as follows ：

[email protected]:~$ rostopic info /scan
Type: sensor_msgs/LaserScan

Publishers: 
 * /play_1602042026551485542 (http://lzm:36033/)

Subscribers: 
 * /navigation (http://lzm:45147/)
 * /feature (http://lzm:44347/)


[email protected]:~$ rostopic info /scan_deal 
Type: sensor_msgs/LaserScan

Publishers: 
 * /feature (http://lzm:44347/)

Subscribers: 
 * /rviz_1602039365042244725 (http://lzm:35289/)