watch_temp.cpp

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#include <ros/ros.h>
#include <std_msgs/Int16.h>

class WatchTempNode
{
        public:
        WatchTempNode(){};
        virtual ~WatchTempNode(){};
        ros::NodeHandle n;
        ros::Subscriber subs_temp;
        
        int init();
        void handletemp(const std_msgs::Int16& es);
        private:
        
};

int WatchTempNode::init()
{
        subs_temp = n.subscribe("/temperature", 1, &WatchTempNode::handletemp, this);
        return 0;
}

void WatchTempNode::handletemp(const std_msgs::Int16& temperature)
{
        if(temperature.data > 70)
        {
                ROS_ERROR("the temperatur is to high, halt the system, please");
        }
}

int main (int argc, char **argv)
{
        ros::init(argc, argv, "temperatur_watcher");
        WatchTempNode node;
        node.init();
        ros::spin();
}