Subscribing multiple topics with different rate
Hey there,
I´m currently new at ROS but made yet all the beginner tutorials at the ROS homepage.
First I implemented a simple publisher and subscriber and it worked. Now I want to create something like the following:
- Node A which publishes a string with rate(1) to topic “test_01” , variable var01
- Node B which publishes an int with rate(1) to topic “test_02”, variable var02
- Node C which publishes an int with rate(10) to topic “test_03” , variable var03
I want to have the following workflow: an node D which subscribes to all three nodes A-C and producing the following output on the screen:
cout << “%s %i %i” << var01 var02 var03 << endl;
So each time a message is published, the cout should performed with the actual variables. As I understood so far, CallbackQueues ( http://wiki.ros.org/roscpp/Overview/C... ) might be the right strategy, but after hours of trying without success I don´t have any idea how to implement the workflow…
Happy about every hint 😊