listener.cpp
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00001 
00009 /*****************************************************************************
00010 ** Includes
00011 *****************************************************************************/
00012 
00013 #include <ros/ros.h>
00014 #include <string>
00015 #include <sstream>
00016 #include "listener.hpp"
00017 #include <std_msgs/String.h>
00018 
00019 /*****************************************************************************
00020 ** Implementation
00021 *****************************************************************************/
00022 
00023 Listener::Listener(int argc, char** argv ) :
00024         QNode(argc,argv,"qlistener")
00025         {}
00026 
00027 void Listener::ros_comms_init() {
00028         ros::NodeHandle n;
00029         chatter_subscriber = n.subscribe("chatter", 1000, &Listener::chatterCallback, this);
00030 }
00031 
00032 void Listener::chatterCallback(const std_msgs::String::ConstPtr &msg) {
00033         ROS_INFO("I heard: [%s]", msg->data.c_str());
00034         logging.insertRows(0,1);
00035         std::stringstream logging_msg;
00036         logging_msg << "[ INFO] [" << ros::Time::now() << "]: I heard: " << msg->data;
00037         QVariant new_row(QString(logging_msg.str().c_str()));
00038         logging.setData(logging.index(0),new_row);
00039 }
00040 
00041 void Listener::run() {
00042         ros::spin();
00043     std::cout << "Ros shutdown, proceeding to close the gui." << std::endl;
00044     Q_EMIT rosShutdown(); // used to signal the gui for a shutdown (useful to roslaunch)
00045 }


qt_tutorials
Author(s): Daniel Stonier
autogenerated on Fri Aug 28 2015 12:16:20