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In ROS1 there was the useful function ros::topic::waitForMessage(..). Is there an equivalent for ROS2 yet?
I have found the following question from a while ago: https://answers.ros.org/question/3073...
but maybe there is an easier solution available now.
In short: there is not. Looking at the latest rclcpp API, I can also confirm that there is no equivalent there https://docs.ros2.org/latest/api/rclc....
While I'm not entirely confident to say that it would never be added, I find it highly unlikely that it would be added - though your link suggests it may be possible through the C API so perhaps it will be exposed at the C++ level at some point. Please create a subscriber as you ordinarily would. It would not be terribly difficult to create an object that contains a subscriber, a callback, and a getLatestMsg() function to get the latest message to have a similar effect.
Asked: 2021-05-20 10:17:08 -0500
Seen: 1,626 times
Last updated: Nov 21 '22
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