Help with writing a subscriber node for an existing publisher

asked 2012-01-23 17:26:29 -0500

wkr101
61 ●5 ●7 ●9

I have followed the tutorials for creating a publisher and subscriber with roscpp. I also have a MicroStrain 3DM-GX3-25 working using the microstrain_3dmgx2_imu package. Following the tutorial, I can view the output data in the terminal.

I'm trying to write a subscriber to this but I'm a bit confused on where to begin since I don't even know where the code for this publisher (imu/node) exists. I'm trying to write a C++ program that will subcribe to the data being published. If anyone can point me in the right direction on this I'd very much appreciate it. Ultimately, I'd like to pass the x,y, and z values as arguments into a separate program for positioning.

I'm using diamondback on both Maverick and Natty (separate computers) and I believe I installed the imu_drivers stack using precompiled binaries.

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Maybe I'm looking at that tutorial wrong (which is what prompted the initial question) but in that case I did have knowledge of the publisher. For example, how do I know about "msg->data.c_str()" from the publisher if I didn't get it from the code itself. Is this something that is always used?

wkr101 ( 2012-01-24 14:37:30 -0500 )edit

Usually you look at the message definition, not at the source code of the publisher. After all whoever writes the publisher also needs the knowledge.

dornhege ( 2012-01-24 19:41:05 -0500 )edit

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