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- #include <ros/ros.h>
- class SubscribeAndPublish
- {
- public:
- SubscribeAndPublish()
- {
- //Topic you want to publish
- pub_ = n_.advertise<PUBLISHED_MESSAGE_TYPE>("/published_topic", 1);
- //Topic you want to subscribe
- sub_ = n_.subscribe("/subscribed_topic", 1, &SubscribeAndPublish::callback, this);
- }
- void callback(const SUBSCRIBED_MESSAGE_TYPE& input)
- {
- PUBLISHED_MESSAGE_TYPE output;
- //.... do something with the input and generate the output...
- pub_.publish(output);
- }
- private:
- ros::NodeHandle n_;
- ros::Publisher pub_;
- ros::Subscriber sub_;
- };//End of class SubscribeAndPublish
- int main(int argc, char **argv)
- {
- //Initiate ROS
- ros::init(argc, argv, "subscribe_and_publish");
- //Create an object of class SubscribeAndPublish that will take care of everything
- SubscribeAndPublish SAPObject;
- ros::spin();
- return 0;
- }
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