49 lines
1.2 KiB
C++
49 lines
1.2 KiB
C++
#include <memory>
|
|
|
|
#include "rclcpp/rclcpp.hpp"
|
|
#include "std_msgs/msg/string.hpp"
|
|
|
|
class PongNode : public rclcpp::Node
|
|
{
|
|
public:
|
|
explicit PongNode(rclcpp::NodeOptions options)
|
|
: Node("pong_node", options)
|
|
{
|
|
sub_ = this->create_subscription<std_msgs::msg::String>(
|
|
"ping",
|
|
rclcpp::QoS(10),
|
|
std::bind(&PongNode::callback, this, std::placeholders::_1));
|
|
pub_ = this->create_publisher<std_msgs::msg::String>(
|
|
"pong",
|
|
rclcpp::QoS(10));
|
|
}
|
|
|
|
private:
|
|
void callback(const std_msgs::msg::String::SharedPtr msg)
|
|
{
|
|
RCLCPP_INFO(this->get_logger(), "[output] %s", msg->data.c_str());
|
|
auto next_msg = std::make_shared<std_msgs::msg::String>();
|
|
next_msg->data = "some random pong string";
|
|
pub_->publish(*next_msg);
|
|
rclcpp::shutdown();
|
|
}
|
|
|
|
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;
|
|
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
|
|
};
|
|
|
|
int main(int argc, char * argv[])
|
|
{
|
|
rclcpp::init(argc, argv);
|
|
|
|
rclcpp::executors::SingleThreadedExecutor exec;
|
|
auto pong_node = std::make_shared<PongNode>(rclcpp::NodeOptions());
|
|
exec.add_node(pong_node);
|
|
|
|
printf("spinning\n");
|
|
exec.spin();
|
|
|
|
// Will actually be called inside the node's callback
|
|
rclcpp::shutdown();
|
|
return 0;
|
|
}
|