39 lines
868 B
Python
39 lines
868 B
Python
import rclpy
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from rclpy.node import Node
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from std_msgs.msg import String
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class MinimalSubscriber(Node):
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def __init__(self):
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super().__init__('minimal_subscriber')
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self.subscription = self.create_subscription(
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String,
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'topic',
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self.listener_callback,
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10)
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self.subscription # prevent unused variable warning
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def listener_callback(self, msg):
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self.get_logger().info('I heard: "%s"' % msg.data)
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def main(args=None):
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rclpy.init(args=args)
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minimal_subscriber = MinimalSubscriber()
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rclpy.spin(minimal_subscriber)
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# Destroy the node explicitly
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# (optional - otherwise it will be done automatically
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# when the garbage collector destroys the node object)
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minimal_subscriber.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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