项目需要读取底盘编码器的can数据 并将其发布为话题，记录下涉及到的知识，若日后涉及将topic数据通过can发布到底盘亦应记录在后 供参考。
Socket原理讲解 https://blog.csdn.net/pashanhu6402/article/details/96428887
Socket详解 https://blog.csdn.net/sight_/article/details/8138802
简单理解Socket https://www.cnblogs.com/dolphinX/p/3460545.html
C++:实现socket通信（TCP/IP）实例
https://www.google.com/search?channel=fs&client=ubuntu&q=C%2B%2B%3A%E5%AE%9E%E7%8E%B0socket%E9%80%9A%E4%BF%A1%EF%BC%88TCP%2FIP%EF%BC%89%E5%AE%9E%E4%BE%8Bhttps%3A%2F%2Fblog.csdn.net%2Fqq_27923041%2Farticle%2Fdetails%2F83857964
高字节，低字节 https://zhidao.baidu.com/question/2074076917114933268.html
字节序（大小端） https://blog.csdn.net/xiaoxianerqq/article/details/80980421
高低字节合并 https://blog.csdn.net/ljymoonlight/article/details/99686445
ROS CAN总线设备接入（二）
https://blog.csdn.net/weixin_30335353/article/details/97268495?utm_medium=distribute.pc_relevant.none-task-blog-2~default~BlogCommendFromMachineLearnPai2~default-7.control&depth_1-utm_source=distribute.pc_relevant.none-task-blog-2~default~BlogCommendFromMachineLearnPai2~default-7.control
ROS CAN总线设备接入（一 ）https://blog.csdn.net/hookie1990/article/details/52629043