Problem with using subscriber from initialize method.

edit

Hi. Sorry for all mistakes, English is not my native language. I am porting my project from Noetic to Foxy and I have flowing code:

bool STMRobotHW::initialize(ros::NodeHandle nh)
{
   ...
   hw_feedback_sub = nh.subscribe("hw_feedback", 1000, &STMRobotHW::feedbackCallback, this);
}

void STMRobotHW::feedbackCallback(const minicar_control::Feedback &fb_msg)
{
     ....
}

I have hard time understanding how this subscribe should look in Foxy if there are no obj parameter parameter for create_subscribe in ROS 2, or at least I couldn't find any. Appreciate any help.