41 lines
859 B
C++
41 lines
859 B
C++
#include <memory>
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#include "rclcpp/rclcpp.hpp"
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#include "std_msgs/msg/string.hpp"
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class SubNode : public rclcpp::Node
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{
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public:
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explicit SubNode(rclcpp::NodeOptions options)
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: Node("sub_node", options)
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{
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sub_ = this->create_subscription<std_msgs::msg::String>(
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"the_topic",
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rclcpp::QoS(10),
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std::bind(&SubNode::callback, this, std::placeholders::_1));
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}
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private:
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void callback(const std_msgs::msg::String::SharedPtr msg)
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{
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// Nothing
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(void)msg;
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}
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rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;
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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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rclcpp::executors::SingleThreadedExecutor exec;
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auto sub_node = std::make_shared<SubNode>(rclcpp::NodeOptions());
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exec.add_node(sub_node);
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printf("spinning once\n");
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exec.spin_once();
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rclcpp::shutdown();
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return 0;
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}
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