00001 import ros.*; 00002 import ros.communication.*; 00003 00004 public class Listener { 00005 public static void main(String args[]) 00006 throws InterruptedException, RosException { 00007 final Ros ros = Ros.getInstance(); 00008 ros.init("Listner"); 00009 00010 ros.pkg.std_msgs.msg.String msg = new ros.pkg.std_msgs.msg.String(); 00011 00012 NodeHandle n = ros.createNodeHandle(); 00013 00014 Subscriber.Callback<ros.pkg.std_msgs.msg.String> callback = 00015 new Subscriber.Callback<ros.pkg.std_msgs.msg.String>() { 00016 public void call(ros.pkg.std_msgs.msg.String msg) { 00017 ros.logInfo("Received [" + msg.data + "]"); 00018 } 00019 }; 00020 00021 Subscriber<ros.pkg.std_msgs.msg.String> sub; 00022 sub = n.subscribe("chatter", 00023 new ros.pkg.std_msgs.msg.String(), 00024 callback, 00025 100); 00026 00027 n.spin(); 00028 } 00029 }