.. _program_listing_file__tmp_ws_src_examples_rclcpp_wait_set_include_wait_set_random_listener.hpp:

Program Listing for File random_listener.hpp
============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_examples_rclcpp_wait_set_include_wait_set_random_listener.hpp>` (``/tmp/ws/src/examples/rclcpp/wait_set/include/wait_set/random_listener.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021, Apex.AI Inc.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef WAIT_SET__RANDOM_LISTENER_HPP_
   #define WAIT_SET__RANDOM_LISTENER_HPP_
   
   #include <vector>
   #include <random>
   
   #include "rclcpp/rclcpp.hpp"
   #include "std_msgs/msg/string.hpp"
   
   class RandomListener : public rclcpp::Node
   {
     using subscription_list = std::vector<rclcpp::Subscription<std_msgs::msg::String>::SharedPtr>;
   
   public:
     RandomListener()
     : Node("random_listener")
     {
       auto print_msg = [this](std_msgs::msg::String::UniquePtr msg) {
           RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
         };
       sub1_ = this->create_subscription<std_msgs::msg::String>("topicA", 10, print_msg);
       sub2_ = this->create_subscription<std_msgs::msg::String>("topicB", 10, print_msg);
       sub3_ = this->create_subscription<std_msgs::msg::String>("topicC", 10, print_msg);
     }
   
     subscription_list get_subscriptions() const
     {
       return {sub1_, sub2_, sub3_};
     }
   
   private:
     rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub1_;
     rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub2_;
     rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub3_;
   };
   #endif  // WAIT_SET__RANDOM_LISTENER_HPP_