messagereceive.cpp

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#include "stdafx.h"
#include <string>
#include <stdio.h>
#include "ros.h"
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <windows.h>

using std::string;

void estimated_pose_callback (const geometry_msgs::PoseWithCovarianceStamped & pose)
{
  printf ("Received pose %f, %f, %f\n", pose.pose.pose.position.x,
          pose.pose.pose.position.y, pose.pose.pose.position.z);
}

int _tmain (int argc, _TCHAR * argv[])
{
  ros::NodeHandle nh;
  char *ros_master = "1.2.3.4";

  printf ("Connecting to server at %s\n", ros_master);
  nh.initNode (ros_master);

  ros::Subscriber < geometry_msgs::PoseWithCovarianceStamped > 
    poseSub ("estimated_pose", &estimated_pose_callback);
  nh.subscribe (poseSub);

  printf ("Waiting to receive messages\n");
  while (1)
  {
    nh.spinOnce ();
    Sleep (100);
  }

  printf ("All done!\n");
  return 0;
}