67 lines
1.6 KiB
Markdown
Executable File
67 lines
1.6 KiB
Markdown
Executable File
# ROS 2 Subscriber
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## Sample Code
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Here is the code for creating a python node that subscribes to `/robot_news` at 2Hz.
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=== "Python"
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``` python title="smartphone.py" linenums="1"
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#!/usr/bin/env python
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import rclpy
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from rclpy.node import Node
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from example_interfaces.msg import String
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class SmartphoneNode(Node):
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def __init__(self):
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super().__init__("smartphone")
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self.subscriber_ = self.create_subscription(String, 'robot_news', self.callback_robot_news, 10)
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self.get_logger().info("Smartphone has been starte.")
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def callback_robot_news(self, msg):
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self.get_logger().info(msg.data)
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def main (args=None):
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rclpy.init(args=args)
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node = SmartphoneNode()
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rclpy.spin(node)
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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```
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=== "C++"
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``` python title="smartphone.cpp" linenums="1"
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#include "rclcpp/rclcpp.hpp"
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#include "example_interfaces/msg/string.hpp"
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class SmartphoneNode : public rclcpp::Node
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{
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public:
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SmartphoneNode() : Node("smartphone")
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{
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subscriber_ = this->create_subscription<example_interfaces::msg::String>(
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"robot_news", 10,
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std::bind(&SmartphoneNode::callbackRobotNews, this, std::placeholders::_1));
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RCLCPP_INFO(this->get_logger(), "Smartphone has been started.");
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}
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private:
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void callbackRobotNews(const example_interfaces::msg::String::SharedPtr msg)
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{
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RCLCPP_INFO(this->get_logger(), "%s", msg->data.c_str());
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}
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rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr subscriber_;
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};
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int main(int argc, char **argv)
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{
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rclcpp::init(argc, argv);
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auto node = std::make_shared<SmartphoneNode>();
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rclcpp::spin(node);
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rclcpp::shutdown();
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return 0;
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}
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``` |