Copyright 2016 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
import rclpy
from rclpy.node import Node
from rclpy.qos import QoSProfile, ReliabilityPolicy
# from std_msgs.msg import CameraInfo
from sensor_msgs.msg import CameraInfo, Image, PointCloud2
class MinimalSubscriber(Node):
def __init__(self):
super().__init__('minimal_subscriber')
# qos_profile = QoSProfile(reliability=ReliabilityPolicy.BEST_EFFORT, depth=10)
qos_policy = rclpy.qos.QoSProfile(reliability=rclpy.qos.ReliabilityPolicy.BEST_EFFORT,
history=rclpy.qos.HistoryPolicy.KEEP_LAST,
depth=1)
self.subscription = self.create_subscription(
PointCloud2,
'/oak/points',
self.listener_callback,
qos_profile=qos_policy)
self.subscription # prevent unused variable warning
def listener_callback(self, msg):
self.get_logger().info('I heard: "%s"' % msg)
def main(args=None):
rclpy.init(args=args)
minimal_subscriber = MinimalSubscriber()
rclpy.spin(minimal_subscriber)
# Destroy the node explicitly
# (optional - otherwise it will be done automatically
# when the garbage collector destroys the node object)
minimal_subscriber.destroy_node()
rclpy.shutdown()
if name == 'main':
main()
