listener_multiple.cpp
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1 /*
2  * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
3  *
4  * Redistribution and use in source and binary forms, with or without
5  * modification, are permitted provided that the following conditions are met:
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13  * this software without specific prior written permission.
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15  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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26  */
27 
28 #include "ros/ros.h"
29 #include "std_msgs/String.h"
30 
37 class Listener
38 {
39 public:
40  void chatter1(const std_msgs::String::ConstPtr& msg) { ROS_INFO("chatter1: [%s]", msg->data.c_str()); }
41  void chatter2(const std_msgs::String::ConstPtr& msg) { ROS_INFO("chatter2: [%s]", msg->data.c_str()); }
42  void chatter3(const std_msgs::String::ConstPtr& msg) { ROS_INFO("chatter3: [%s]", msg->data.c_str()); }
43 };
44 
45 void chatter4(const std_msgs::String::ConstPtr& msg)
46 {
47  ROS_INFO("chatter4: [%s]", msg->data.c_str());
48 }
49 
50 int main(int argc, char **argv)
51 {
52  ros::init(argc, argv, "listener");
54 
55  Listener l;
56  ros::Subscriber sub1 = n.subscribe("chatter", 10, &Listener::chatter1, &l);
57  ros::Subscriber sub2 = n.subscribe("chatter", 10, &Listener::chatter2, &l);
58  ros::Subscriber sub3 = n.subscribe("chatter", 10, &Listener::chatter3, &l);
59  ros::Subscriber sub4 = n.subscribe("chatter", 10, chatter4);
60 
61  ros::spin();
62 
63  return 0;
64 }
65 
void chatter1(const std_msgs::String::ConstPtr &msg)
Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
void chatter2(const std_msgs::String::ConstPtr &msg)
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
#define ROS_INFO(...)
ROSCPP_DECL void spin()
int main(int argc, char **argv)
void chatter3(const std_msgs::String::ConstPtr &msg)
void chatter4(const std_msgs::String::ConstPtr &msg)


roscpp_tutorials
Author(s): Morgan Quigley, Dirk Thomas
autogenerated on Sun Oct 18 2020 13:09:42