59 lines
1.8 KiB
C++
59 lines
1.8 KiB
C++
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/*
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需求：订阅发布方发布的消息，并在终端输出
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流程：
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1.包含头文件；
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2.初始化ROS2客户端
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3.自定义节点类
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3-1 创建一个订阅方
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3-2 解析并输出数据
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4.调用spin函数，并传入节点对象指针
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5.资源释放
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*/
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// 1.包含头文件；
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#include <memory>
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#include "rclcpp/rclcpp.hpp"
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// #include "std_msgs/msg/string.hpp"
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#include <protocol/msg/head_tof_payload.hpp>
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using std::placeholders::_1;
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// 3.自定义节点类
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class TofSubscriberNode: public rclcpp::Node {
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public:
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TofSubscriberNode()
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: Node("tof_node_cpp") {
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RCLCPP_INFO(this->get_logger(), "订阅方创建！");
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// 3-1 创建一个订阅方
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/*
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模板：对象的消息类型
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参数：
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1.话题名称
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2.QOS:服务质量管理，对类长度
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3.回调函数。
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返回值：订阅对象的指针
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*/
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subscription_ = this->create_subscription<protocol::msg::HeadTofPayload>(
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"head_tof_payload", 10, std::bind(&TofSubscriberNode::do_callback, this, _1));
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}
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private:
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void do_callback(const protocol::msg::HeadTofPayload::SharedPtr msg) const {
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// 3-2 解析并输出数据
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RCLCPP_INFO(this->get_logger(), "订阅到的消息: left_head.data[6] = %f", msg->left_head.data[6]);
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RCLCPP_INFO(this->get_logger(), "订阅到的消息: msg->right_head.data[6] = %f", msg->right_head.data[6]);
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}
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rclcpp::Subscription<protocol::msg::HeadTofPayload>::SharedPtr subscription_;
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};
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int main(int argc, char const *argv[])
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{
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// 2.初始化ROS2客户端
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rclcpp::init(argc, argv);
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// 4.调用spin函数，并传入节点对象指针
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rclcpp::spin(std::make_shared<TofSubscriberNode>());
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// 5.资源释放
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rclcpp::shutdown();
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return 0;
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}
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