subscriber.cpp

Go to the documentation of this file.

//=================================================================================================
// Copyright (c) 2013, Johannes Meyer, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================

#include <ros/ros.h>
#include <blob/Blob.h>

#include <sensor_msgs/Imu.h>

void callback(const blob::BlobConstPtr& blob) {
  ROS_INFO("Received a blob of size %u at address %p: %s", blob->size(), blob->data(), std::string(reinterpret_cast<const char *>(blob->data()), blob->size()).c_str());

#ifdef SENSOR_MSGS_MESSAGE_IMU_H
  sensor_msgs::ImuPtr imu = blob->instantiate<sensor_msgs::Imu>();
  if (imu) {
    std::cout << *imu << std::endl;
  }
#endif
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "blob_test_subscriber");
  ros::NodeHandle nh;
  ros::Subscriber sub = nh.subscribe<blob::Blob>("blob", 10, &callback);
  ros::spin();
  return 0;
}