Merge pull request #27 from ru2saig/humble-devel

My go at a procedural implementation example of subscriber node

br2_basics/CMakeLists.txt

@@ -13,6 +13,9 @@ set(dependencies
 add_executable(publisher src/publisher.cpp)
 ament_target_dependencies(publisher ${dependencies})
 
+add_executable(subscriber src/subscriber.cpp)
+ament_target_dependencies(subscriber ${dependencies})
+
 add_executable(publisher_class src/publisher_class.cpp)
 ament_target_dependencies(publisher_class ${dependencies})
 
@@ -34,6 +37,7 @@ ament_target_dependencies(param_reader ${dependencies})
 install(TARGETS
   publisher
   publisher_class
+  subscriber
   subscriber_class
   executors
   logger

br2_basics/src/subscriber.cpp

@@ -0,0 +1,33 @@
+// Copyright 2023 Nidhish Chadive (ru2saig)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/int32.hpp"
+
+void callback(const std_msgs::msg::Int32::SharedPtr msg)
+{
+  RCLCPP_INFO(rclcpp::get_logger("subscriber"), "Hello %d", msg->data);
+}
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  auto node = rclcpp::Node::make_shared("subscriber_node");
+  auto subscriber = node->create_subscription<std_msgs::msg::Int32>("int_topic", 10, &callback);
+
+  rclcpp::spin(node);
+
+  rclcpp::shutdown();
+  return 0;
+}