705375085f
- Change CForce3D fx/fy/fz from int16 to uint32 to match hardware - Add independent C++ example with command and streaming modes - Rewrite Python example with threaded streaming (read_loop + consumer pattern) - Add ROS2 C++ publisher/subscriber examples - Update README with streaming APIs, ROS2 docs, data type definitions, and full FFI table - Add CHANGELOG
32 lines
850 B
C++
32 lines
850 B
C++
#include <memory>
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#include "rclcpp/rclcpp.hpp"
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#include "std_msgs/msg/u_int32.hpp"
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using std::placeholders::_1;
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class EskinSubscriber : public rclcpp::Node {
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public:
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EskinSubscriber()
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: Node("eskin_subscriber")
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{
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subscription_ = this->create_subscription<std_msgs::msg::UInt32>(
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"comb_force", 10,
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std::bind(&EskinSubscriber::topic_callback, this, _1));
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RCLCPP_INFO(this->get_logger(), "EskinSubscriber listening on /comb_force");
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}
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private:
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void topic_callback(const std_msgs::msg::UInt32::SharedPtr msg) const {
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RCLCPP_INFO(this->get_logger(), "Received force: %u", msg->data);
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}
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rclcpp::Subscription<std_msgs::msg::UInt32>::SharedPtr subscription_;
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};
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int main(int argc, char * argv[]) {
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rclcpp::init(argc, argv);
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rclcpp::spin(std::make_shared<EskinSubscriber>());
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rclcpp::shutdown();
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return 0;
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} |