00001 /* 00002 * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc. 00003 * 00004 * Redistribution and use in source and binary forms, with or without 00005 * modification, are permitted provided that the following conditions are met: 00006 * * Redistributions of source code must retain the above copyright notice, 00007 * this list of conditions and the following disclaimer. 00008 * * Redistributions in binary form must reproduce the above copyright 00009 * notice, this list of conditions and the following disclaimer in the 00010 * documentation and/or other materials provided with the distribution. 00011 * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its 00012 * contributors may be used to endorse or promote products derived from 00013 * this software without specific prior written permission. 00014 * 00015 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00016 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00017 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00018 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00019 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00020 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00021 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00022 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00023 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00024 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00025 * POSSIBILITY OF SUCH DAMAGE. 00026 */ 00027 00028 #include "ros/ros.h" 00029 #include "std_msgs/String.h" 00030 00038 class Listener 00039 { 00040 public: 00041 ros::NodeHandle node_handle_; 00042 ros::V_Subscriber subs_; 00043 00044 Listener(const ros::NodeHandle& node_handle) 00045 : node_handle_(node_handle) 00046 { 00047 } 00048 00049 void init() 00050 { 00051 subs_.push_back(node_handle_.subscribe<std_msgs::String>("chatter", 1000, boost::bind(&Listener::chatterCallback, this, _1, "User 1"))); 00052 subs_.push_back(node_handle_.subscribe<std_msgs::String>("chatter", 1000, boost::bind(&Listener::chatterCallback, this, _1, "User 2"))); 00053 subs_.push_back(node_handle_.subscribe<std_msgs::String>("chatter", 1000, boost::bind(&Listener::chatterCallback, this, _1, "User 3"))); 00054 } 00055 00056 void chatterCallback(const std_msgs::String::ConstPtr& msg, std::string user_string) 00057 { 00058 ROS_INFO("I heard: [%s] with user string [%s]", msg->data.c_str(), user_string.c_str()); 00059 } 00060 }; 00061 00062 int main(int argc, char **argv) 00063 { 00064 ros::init(argc, argv, "listener_with_userdata"); 00065 ros::NodeHandle n; 00066 00067 Listener l(n); 00068 l.init(); 00069 00070 ros::spin(); 00071 00072 return 0; 00073 }