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