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main.cpp
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49 lines (42 loc) · 1.44 KB
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// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <std_msgs/msg/string.hpp>
#include <rclcpp/rclcpp.hpp>
#include <memory>
#include <cstdio>
using std::placeholders::_1;
class string_subscriber_cpp_node : public rclcpp::Node
{
public:
string_subscriber_cpp_node()
: Node("string_subscriber_cpp")
{
rclcpp::QoS qos(10);
subscription_ = this->create_subscription<std_msgs::msg::String>("std_msgs_msg_String", qos,
std::bind(&string_subscriber_cpp_node::topic_callback, this, _1));
}
private:
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
void topic_callback(const std_msgs::msg::String::SharedPtr msg)
{
std::cout << "I heard: " << msg->data << std::endl;
}
};
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<string_subscriber_cpp_node>());
rclcpp::shutdown();
return 0;
}