论坛里的一个老哥给出答案https://discourse.ros.org/t/how-to-shutdown-and-reinitialize-a-publisher-node-in-ros-2/4090就是我在初始化环境前先初始化了节点autonode=std::make_shared<Static_tf_broadcaster>(argv);rclcpp::init(argc,argv);rclcpp::spin(nod