listener.cpp

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/*****************************************************************************
** Includes
*****************************************************************************/

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

// %Tag(CALLBACK)%
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
  ROS_INFO("I heard: [%s]", msg->data.c_str());
}
// %EndTag(CALLBACK)%

int main(int argc, char **argv)
{
  ros::init(argc, argv, "listener");

  ros::NodeHandle n;

// %Tag(SUBSCRIBER)%
  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
// %EndTag(SUBSCRIBER)%

// %Tag(SPIN)%
  ros::spin();
// %EndTag(SPIN)%

  return 0;
}
// %EndTag(FULLTEXT)%