rclpyでROS2のトピックを扱う　その３：Subscriber

実際のところ

import rclpy
from rclpy.node import Node
from std_msgs.msg import String

class MySubscriber(Node):

    def __init__(self):
        super().__init__('mysubscriber')
        self.subscription = self.create_subscription(
            String,
            'topic_name',
            self.listener_callback,
            10)
        self.subscription

    def listener_callback(self, msg):
        self.get_logger().info('I heard: "%s"' % msg.data)

def main(args=None):
    rclpy.init(args=args)
    node = MySubscriber()
    rclpy.spin(node)
    node.destroy_node()
    rclpy.shutdown()

if __name__ == '__main__':
    main()

参考もと

GitHub - ros2/rclpy: rclpy (ROS Client Library for Python)
rclpy — rclpy 3.2.1 documentation