ROS2 Subscriber Node (C++) - Ros-ros2 Typing CST Test

ROS2 Subscriber Node (C++) — Ros-ros2 Code

A simple ROS2 subscriber node that listens to messages from a topic.

#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>

class MinimalSubscriber : public rclcpp::Node {
public:
	MinimalSubscriber() : Node("minimal_subscriber") {
		subscription_ = this->create_subscription<std_msgs::msg::String>(
		"topic", 10,
		std::bind(&MinimalSubscriber::topic_callback, this, std::placeholders::_1));
	}

private:
	void topic_callback(const std_msgs::msg::String::SharedPtr msg) const {
		RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
	}

	rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
};

int main(int argc, char * argv[]) {
	rclcpp::init(argc, argv);
	rclcpp::spin(std::make_shared<MinimalSubscriber>());
	rclcpp::shutdown();
	return 0;
}

Ros-ros2 Language Guide

ROS (Robot Operating System) and ROS2 are open-source frameworks for robot software development. They provide libraries, tools, and conventions to simplify programming, communication, and control in robotics, supporting modularity, real-time systems, and hardware abstraction.

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