Comparison of Python and C++

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
#  ros2 topic type /lexus3/gps/duro/current_pose
#  geometry_msgs/msg/PoseStamped
#  ros2 interface show geometry_msgs/msg/PoseStamped

import rclpy
from rclpy.node import Node
from geometry_msgs.msg import PoseStamped


class SimplePoseSub(Node):

    def __init__(self):
        super().__init__('simple_pose_sub')
        self.sub1_ = self.create_subscription(PoseStamped, '/lexus3/gps/duro/current_pose', self.topic_callback, 10)



    def topic_callback(self, msg):

        self.get_logger().info('x: %.3f, y: %.3f', msg.pose.position.x, msg.pose.position.y)




def main(args=None):

    rclpy.init(args=args)                   ## Initialize the ROS 2 client library
    simple_pose_sub = SimplePoseSub()
    rclpy.spin(simple_pose_sub)             ## Create a node and spin
    simple_pose_sub.destroy_node()
    rclpy.shutdown()                        ## Shutdown the ROS 2 client library

if __name__ == '__main__':
    main()

 1
 2
 3
 4
 5
 6
 7
 8
 9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
// ros2 topic type /lexus3/gps/duro/current_pose
// geometry_msgs/msg/PoseStamped
// ros2 interface show geometry_msgs/msg/PoseStamped

#include "rclcpp/rclcpp.hpp"
#include <memory>
#include "geometry_msgs/msg/pose_stamped.hpp"
using std::placeholders::_1;

class SimplePoseSub : public rclcpp::Node{
public:
    SimplePoseSub() : Node("simple_pose_sub")
    {
        sub1_ = this->create_subscription<geometry_msgs::msg::PoseStamped>("/lexus3/gps/duro/current_pose", 10, std::bind(&SimplePoseSub::topic_callback, this, _1));
    }

private:
    void topic_callback(const geometry_msgs::msg::PoseStamped &msg) const
    {
        RCLCPP_INFO(this->get_logger(), "x: %.3f, y: %.3f", msg.pose.position.x, msg.pose.position.y);
    }
    rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr sub1_;
    };

int main(int argc, char *argv[])
{
    rclcpp::init(argc, argv);               // Initialize the ROS 2 client library
    rclcpp::spin(
        std::make_shared<SimplePoseSub>()); // Create a node and spin

    rclcpp::shutdown();                     // Shutdown the ROS 2 client library
    return 0;

}