Question

Hi Friends,

I have a ROS Node which is creating a TCP/IP Connection and I am Sending & Receiving the data from the Server.

I am using a Char buff[110] to read the data and I want to publish this array on a ROS topic.

How do I publish this character array on the topic and how to Subscribe this in another node.

I tried few examples using std_msgs::UInt8MultiArray & pusb_back() but it was not publishing the data.

Kindly help.

Thanks.

Asked by Radeshwar on 2021-01-19 06:23:53 UTC

Answer 1

Have you tried using C++ std::string data type? If that fits the use case, should be straightforward and simple. For example, I'm using this with boost::serialize

Publisher :

Advertise<topic type>("topic name", size)
Std_msgs::string msg;
Msg.data = std::string(char *)
Pub.publish(msg)

Subscriber :

void myCallback(const std:_msgs::string::constptr& msg) //prototype

//in the main : 
NodeHandle.subscribe(topic_Name,  buffer size, myCallback) //Create a subscriber object

Implement what you need in callback.

Asked by Vic on 2021-01-19 08:18:36 UTC

Publishing a Char Array

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