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In the subscriber callback function, I would like to use topic message type as an argument so that I can use for any topic:
void callback(message_type &msg)
{
....
}
....
ros::Subscriber sub = nh.subscribe(topic_name, 1000, callback);
Any suggestion?
I'm 99% certain that this can not be done. In c++, ros1 messages do not inherit from a common base class, so one message's type is unrelated to all other message types (in a class hierarchy sense.) By definition, a topic can only have one message type. To help avoid bugs, the ros developers decided to make you declare exactly what message type you think is arriving on the topic.
It can be done, but I've never tried it. It can also be done with templates, I would guess, but perhaps if the OP described in more detail what they wanted to do...
@KenYN Sometimes it's best to recognize that the cure is worse than the disease. But thanks for the link - that is an approach I haven't seen before.
Asked: 2021-11-21 06:55:56 -0500
Seen: 131 times
Last updated: Nov 21 '21
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