xs
38 lines
1.2 KiB
C++
38 lines
1.2 KiB
C++
// chatter_subscriber.cpp - ChatterSubscriber 类实现(不含 main)
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#include "cpp_pubsub/chatter_subscriber.hpp"
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#include <string>
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namespace cpp_pubsub
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{
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ChatterSubscriber::ChatterSubscriber(const rclcpp::NodeOptions & options)
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: rclcpp::Node("chatter_subscriber", options), received_count_(0)
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{
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this->declare_parameter<std::string>(
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"topic_name", "chatter",
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rcl_interfaces::msg::ParameterDescriptor().set__description("订阅话题名"));
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const std::string topic_name = this->get_parameter("topic_name").as_string();
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subscription_ = this->create_subscription<std_msgs::msg::String>(
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topic_name, 10,
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std::bind(&ChatterSubscriber::message_callback, this, std::placeholders::_1));
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RCLCPP_INFO(this->get_logger(), "ChatterSubscriber subscribed: topic=\"%s\"", topic_name.c_str());
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}
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void ChatterSubscriber::message_callback(const std_msgs::msg::String::SharedPtr msg)
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{
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try {
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received_count_++;
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if (received_count_ % 10 == 0) {
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RCLCPP_INFO(this->get_logger(),
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"recv #%zu: \"%s\"", received_count_, msg->data.c_str());
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}
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} catch (const std::exception & exc) {
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RCLCPP_ERROR(this->get_logger(), "callback failed: %s", exc.what());
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}
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}
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} // namespace cpp_pubsub
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