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@sloretz is right, just here to add some code for better understanding, future viewers.
So if your publisher is using
rclcpp::SensorDataQoS()
Then in your python subscriber subscribe with same QOS setting, for example I subscribe to NavsatFix message with following;
import rclpy
from rclpy.node import Node
from rclpy.qos import qos_profile_sensor_data
from sensor_msgs.msg import NavSatFix
def __init__(self):
super().__init__('gps_waypoint_collector')
self.subscription = self.create_subscription(
NavSatFix,
'/gps/fix',
self.listener_callback, qos_profile_sensor_data
)
self.subscription # prevent unused variable warning
def listener_callback(self, msg):
print(msg.latitude, msg.longitude, msg.altitude)