Use variables in main from callback

asked 2017-01-23 10:55:37 -0500

nikkk
13 ●4 ●5 ●6

I need to use three variables that I subscribe from another topic and use it in the main loop. I know that I can use boost function but I don't understand how to use in my case:


double theta1f;
double theta2f;
double theta3f;

class Listener
{
public:
    void callback(const std_msgs::Float32MultiArray::ConstPtr& msg);
};
void Listener::callback(const std_msgs::Float32MultiArray::ConstPtr& msg)
{
    theta1f = msg->data[0];
    theta2f = msg->data[1];
    theta3f = msg->data[2];
}
int main(int argc, char **argv)
{
    ros::init(argc, argv, "node_joint");
    ros::NodeHandle nh;
    ros::Rate loop_rate(30); 
    Listener listener;
    ros::Subscriber sub = nh.subscribe<std_msgs::float32multiarray>("topic_subscribed", 1, &Listener::callback, &listener);
while (ros::ok())
    {  
      cout  theta1f endl;
      }
    loop_rate.sleep();
    ros::spin();
    return 0;
}

I need to use theta1f in this main (cout is only an example and i know that is missing the <<). How can I do it using boost function? There are other solutions better than this?

Thank you for your answers.

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1

answered 2017-01-23 11:16:57 -0500

Steven_Daniluk

606 ●2 ●7 ●14

updated 2018-02-18 18:58:00 -0500

Boost does not seem necessary in this case. You can simply declare theta1f, theta2f, and theta3f as properties of your class listener. Since you create a Listener object in main, you would then have access to its properties. Basically, whenever you have a callback function for messages, you will need to use a class to utilize the data from that callback somewhere else. Like this:

class Listener 
{
  public:
    double theta1f;
    double theta2f;
    double theta3f;

    void callback(const std_msgs::Float32MultiArray::ConstPtr& msg);
};

void Listener::callback(const std_msgs::Float32MultiArray::ConstPtr& msg) 
{
    theta1f = msg->data[0];
    theta2f = msg->data[1];
    theta3f = msg->data[2];
}

int main(int argc, char **argv) 
{
    ros::init(argc, argv, "node_joint");
    ros::NodeHandle nh;
    ros::Rate loop_rate(30); 
    Listener listener;
    ros::Subscriber sub = nh.subscribe<std_msgs::float32multiarray>("topic_subscribed", 1, &Listener::callback, &listener);
    while (ros::ok()) 
    {
        ros::spinOnce();
        ROS_INFO("This is theta1f: %.2f", listener.theta1f);
        ROS_INFO("This is theta2f: %.2f", listener.theta2f);
        ROS_INFO("This is theta2f: %.2f", listener.theta2f);
        loop_rate.sleep();
    }

    return 0;
}

Also, in general it is discouraged to use global variables unless absolutely necessary.

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Thank you for the answer. This works without problem.

nikkk ( 2017-01-23 12:00:33 -0500 )edit

This did not work for me until I deleted loop_rate.sleep(); , ros::spin(); , return 0;. Then I had to add the following lines inside the while loop: ros::spinOnce; , loop_rate.sleep();.

reben ( 2018-02-17 22:50:18 -0500 )edit

Yep, you are correct. That's my bad, this is what happens when you write code snippets directly in a comment. I've edited my response to correct that mistake.

Steven_Daniluk ( 2018-02-18 18:59:40 -0500 )edit

I'm a bit confused between the difference of ros::spinOnce() and ros::spin()... Why does calling ros::spinOnce(); inside the while loop does not produce the same result as calling ros::spin() outside the while loop here.

dj95 ( 2020-02-17 16:59:14 -0500 )edit

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answered 2018-01-16 05:00:35 -0500

Lauran
19 ●4 ●5 ●9

updated 2018-01-16 05:03:58 -0500

Hello, I am having the same issue. I have tried to use the code of Jan and implement it in my situation. When I want to display my variable in the terminal it says it's 0.00. Which it shouldn't be. In a different code I was able to see that my variable "x" was send properly so I think the problem isn't in the sending part. Now I want to use my variable in my main. This is my code:

using namespace std;
class MoveRobot {
    public:
        double x;
        double y;
        double z;
        double roll;
        double pitch;
        double yaw;
        double a;
        void PublishCoordinatesCallback(const ur5_inf3480::Coor msg);
};

void MoveRobot::PublishCoordinatesCallback(const ur5_inf3480::Coor msg) {
    x = msg.x;
    y = msg.y;
    z = msg.z;
    roll = msg.roll;
    pitch = msg.pitch;
    yaw = msg.yaw;
    a = msg.a;
}

int main(int argc, char **argv) {
    ros::init(argc, argv, "coordinates");
    ros::NodeHandle nh;
    ros::Rate loop_rate(30);
    MoveRobot moverobot;
    ros::Subscriber sub = nh.subscribe<ur5_inf3480::Coor>("topic_subscribed", 1, &MoveRobot::PublishCoordinatesCallback, &moverobot);
    while (ros::ok())
    {
        ROS_INFO("This is x: %.2f", moverobot.x);
    }
    loop_rate.sleep();
    ros::spin();
    return 0;
}

Thank you for your help!