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Ros2 pub/sub code logging only appearing in c++

asked 2019-12-20 11:59:40 -0500

RobotJINI gravatar image

I am looking at adding some code to the publisher and subscriber base code.

Lets start at the beginning, it looks to me that both python and c++ use the same underlying subscription.cpp/hpp code in rclcpp and for python its just wrapped. If i’m wrong thats the issue.

Moving on:

I modified subscription.hpp in rclcpp to print a message in the void handle_message function (everytime you receive a message) it is logged under the RCLCPP_INFO flag so it should print by default.

When I run the pub sub tutorial in python I get no extra print messages.

When I run the pub sub tutorial in c++ I get the print messages.

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answered 2019-12-20 12:30:58 -0500

sloretz gravatar image

Lets start at the beginning, it looks to me that both python and c++ use the same underlying subscription.cpp/hpp code in rclcpp and for python its just wrapped. If i'm wrong thats the issue.

That's the issue. rclcpp and rclpy are both wrapping a C library called rcl. A change in rclcpp won't affect rclpy.

There's a helpful diagram on this page: http://docs.ros2.org/eloquent/develop...

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I can't tell you the number of times I use that diagram to explain ROS2 to folks. Whoever at OR made that did a very good job.

stevemacenski gravatar image stevemacenski  ( 2019-12-20 14:22:01 -0500 )edit

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Asked: 2019-12-20 11:59:40 -0500

Seen: 32 times

Last updated: Dec 20 '19