ROS源码分析--子话题-catkin：https://blog.csdn.net/sukha/article/details/52460492
ROS源码分析：https://blog.csdn.net/sukha/article/details/52454735
https://blog.csdn.net/shuipengpeng/article/category/7591555
古月居的roshttps://blog.csdn.net/weixin_43455581/article/details/96306977#1_CPython_1