Subscriber issue

asked 2013-03-18 23:33:16 -0500

camilla
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What should I do if I want that the callBack function of a subscriber returns a value. In particular I have a subscriber that receive sensor_msgs/Range and I want the callBack function to return the range value that is in the message but I don't now how to implement it.
Any suggestion?

Thanks in advance

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answered 2013-03-19 01:33:58 -0500

dornhege

31395 ●134 ●284 ●498

Callback cannot return values.

Where would you want to have that value returned to?

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You could take an example from the talker tutorial, to communicate to the sender of the original message.

aimc ( 2013-03-19 01:47:30 -0500 )edit

That's what services are for.

dornhege ( 2013-03-19 02:28:12 -0500 )edit

I want it returned in the main where I declare the subscriber

camilla ( 2013-03-19 04:56:59 -0500 )edit

You just want to have the message value available in the main? You could write it to a global variable or better use boost::bind for the callback and pass in a reference to the value to write to.

dornhege ( 2013-03-19 06:00:23 -0500 )edit

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answered 2013-03-18 23:41:03 -0500

Victor_ocv2
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updated 2013-03-19 07:49:01 -0500

If you just want to get the value, declare the callback as member function of a class. Then, you can write the received data into that class, in example (pseudocode):

void Robot::LaserCallback(const sensor_msgs::LaserScan::ConstPtr& msg){

for ( range_data in msg) {
    this->rangedata = msg->ranges
    }
}

In this way from your main you could just call a get method to obtain the latest data available.

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