ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
After being shown an example of how to use rclcpp::create_subscription
(the header I linked to) I realized it has nearly the same interface as rclcpp::Node::create_subscription
.
In my case I was trying to replace this line:
joint_state_subscriber_ = node_->create_subscription<sensor_msgs::msg::JointState>(
joint_states_topic, 25, std::bind(&CurrentStateMonitor::jointStateCallback, this, std::placeholders::_1));
Using the example here (https://github.com/ros-visualization/interactive_markers/blob/ros2/src/interactive_marker_server.cpp) and the convenience constructor for rclcpp::QoS
(https://docs.ros2.org/dashing/api/rclcpp/classrclcpp_1_1QoS.html) I converted the line to work like this:
joint_state_subscriber_ = rclcpp::create_subscription<sensor_msgs::msg::JointState>(
node_topics_interface_, joint_states_topic, rclcpp::QoS(25),
std::bind(&CurrentStateMonitor::jointStateCallback, this, std::placeholders::_1));
Is there a place where these functions that are not part of rclcpp::Node
are documented?