45 lines
1.2 KiB
C++
45 lines
1.2 KiB
C++
|
#ifndef ENV_MANAGER_COMPONENT_MANAGER_SUBSCRIBER_COMPONENT_HPP_
|
||
|
|
#define ENV_MANAGER_COMPONENT_MANAGER_SUBSCRIBER_COMPONENT_HPP_
|
||
|
|
|
||
|
|
#include <iostream>
|
||
|
|
#include <memory>
|
||
|
|
|
||
|
|
#include "rclcpp/rclcpp.hpp"
|
||
|
|
|
||
|
|
namespace env_manager
|
||
|
|
{
|
||
|
|
namespace component_manager
|
||
|
|
{
|
||
|
|
|
||
|
|
const std::string DEFAULT_SUB_NODE_NAME = "env_manager_sub_node";
|
||
|
|
const std::string DEFAULT_SUB_TOPIC_NAME = "sub_topic";
|
||
|
|
|
||
|
|
template <typename MessageT>
|
||
|
|
class SubscriberComponent : public rclcpp::Node
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
explicit SubscriberComponent(const rclcpp::NodeOptions& options)
|
||
|
|
: Node(DEFAULT_SUB_NODE_NAME, options)
|
||
|
|
{
|
||
|
|
_sub = create_subscription<MessageT>(
|
||
|
|
DEFAULT_SUB_TOPIC_NAME, 10, this->callback);
|
||
|
|
auto ret = rcutils_logging_set_logger_level(
|
||
|
|
get_logger().get_name(), RCUTILS_LOG_SEVERITY_FATAL);
|
||
|
|
if (ret != RCUTILS_RET_OK)
|
||
|
|
{
|
||
|
|
RCLCPP_ERROR(get_logger(), "Error setting severity: %s", rcutils_get_error_string().str);
|
||
|
|
rcutils_reset_error();
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
virtual void callback(const MessageT& msg) = 0;
|
||
|
|
|
||
|
|
private:
|
||
|
|
typename rclcpp::Subscription<MessageT>::SharedPtr _sub;
|
||
|
|
};
|
||
|
|
|
||
|
|
} // namespace component_manager
|
||
|
|
} // namespace env_manager
|
||
|
|
|
||
|
|
#endif // ENV_MANAGER_COMPONENT_MANAGER_SUBSCRIBER_COMPONENT_HPP_
|