ROS中消息发布和订阅为什么不需要锁，不涉及多线程吗？具体的通信机制是什么? - 知乎
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ROS提供两种单线程回调的spin方法和两种多线程回调的Spin类，分别是： 单线程回调spin方法： ros::spin()——相当于while(true)的大循环，不断遍历执行Callback队列中的可用回调; ros::spinOne()——相当于马上执行一次Callback队列中的可用回调; 多线程回调spin类：
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