listener.cpp

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/*
 * Author: Anis Koubaa for Gaitech EDU
 * Year: 2016
 *
 */

#include "ros/ros.h"
#include "std_msgs/String.h"

// Topic messages callback
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
    ROS_INFO("[Listener] I heard: [%s]\n", msg->data.c_str());
}

int main(int argc, char **argv)
{
    // Initiate a new ROS node named "listener"
        ros::init(argc, argv, "listener_node");
        //create a node handle: it is reference assigned to a new node
        ros::NodeHandle node;

    // Subscribe to a given topic, in this case "chatter".
        //chatterCallback: is the name of the callback function that will be executed each time a message is received.
    ros::Subscriber sub = node.subscribe("chatter", 1000, chatterCallback);

    // Enter a loop, pumping callbacks
    ros::spin();

    return 0;
}