.. _program_listing_file_include_rclcpp_create_generic_subscription.hpp:

Program Listing for File create_generic_subscription.hpp
========================================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_rclcpp_create_generic_subscription.hpp>` (``include/rclcpp/create_generic_subscription.hpp``)

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

.. code-block:: cpp

   // Copyright 2020, 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 RCLCPP__CREATE_GENERIC_SUBSCRIPTION_HPP_
   #define RCLCPP__CREATE_GENERIC_SUBSCRIPTION_HPP_
   
   #include <functional>
   #include <memory>
   #include <string>
   #include <utility>
   
   #include "rcl/subscription.h"
   #include "rclcpp/generic_subscription.hpp"
   #include "rclcpp/node_interfaces/node_topics_interface.hpp"
   #include "rclcpp/qos.hpp"
   #include "rclcpp/serialized_message.hpp"
   #include "rclcpp/subscription_options.hpp"
   #include "rclcpp/typesupport_helpers.hpp"
   
   namespace rclcpp
   {
   
   
   template<typename AllocatorT = std::allocator<void>>
   std::shared_ptr<GenericSubscription> create_generic_subscription(
     rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface,
     const std::string & topic_name,
     const std::string & topic_type,
     const rclcpp::QoS & qos,
     std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> callback,
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
       rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
     )
   )
   {
     auto ts_lib = rclcpp::get_typesupport_library(
       topic_type, "rosidl_typesupport_cpp");
   
     auto subscription = std::make_shared<GenericSubscription>(
       topics_interface->get_node_base_interface(),
       std::move(ts_lib),
       topic_name,
       topic_type,
       qos,
       callback,
       options);
   
     topics_interface->add_subscription(subscription, options.callback_group);
   
     return subscription;
   }
   
   }  // namespace rclcpp
   
   #endif  // RCLCPP__CREATE_GENERIC_SUBSCRIPTION_HPP_