-
Notifications
You must be signed in to change notification settings - Fork 0
/
Listener.java
41 lines (36 loc) · 1.26 KB
/
Listener.java
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
//package org.ros.rosjava_tutorial_pubsub;
//import org.apache.commons.logging.Log;
import org.ros.message.MessageListener;
import org.ros.namespace.GraphName;
import org.ros.node.AbstractNodeMain;
import org.ros.node.ConnectedNode;
import org.ros.node.NodeMain;
import org.ros.node.topic.Subscriber;
/**
* A simple {@link Subscriber} {@link NodeMain}.
*
* @author damonkohler@google.com (Damon Kohler)
*/
public class Listener extends AbstractNodeMain {
@Override
public GraphName getDefaultNodeName() {
//return new GraphName("rosjava_tutorial_pubsub/listener");
//return GraphName.newAnonymous();
return GraphName.of("rosjava_tutorial_pubsub/listener");
}
@Override
public void onStart(ConnectedNode connectedNode) {
//final Log log = connectedNode.getLog();
Subscriber<std_msgs.String> subscriber = connectedNode.newSubscriber("chatter", std_msgs.String._TYPE);
subscriber.addMessageListener(new MessageListener<std_msgs.String>() {
@Override
public void onNewMessage(std_msgs.String message) {
//log.info("I heard: \"" + message.getData() + "\"");
System.out.println("I heard: \"" + message.getData() + "\"");
}
});
}
public void print() {
System.out.println("Inside the listener's print function");
}
}