Minimal subscriber cookbook recipes

This package contains a few different strategies for creating nodes which receive messages:

• lambda.cpp uses a C++11 lambda function
• member_function.cpp uses a C++ member function callback
• not_composable.cpp uses a global function callback without a Node subclass
• wait_set_subscriber.cpp uses a rclcpp::WaitSet to wait and poll for data
• static_wait_set_subscriber.cpp uses a rclcpp::StaticWaitSet to wait and poll for data
• time_triggered_wait_set_subscriber.cpp uses a rclcpp::Waitset and a timer to poll for data periodically
• content_filtering.cpp uses the content filtering feature for Subscriptions

Note that not_composable.cpp instantiates a rclcpp::Node without subclassing it. This was the typical usage model in ROS 1, but this style of coding is not compatible with composing multiple nodes into a single process. Thus, it is no longer the recommended style for ROS 2.

All of these nodes do the same thing: they create a node called minimal_subscriber and subscribe to a topic named topic which is of datatype std_msgs/String. When a message arrives on that topic, the node prints it to the screen. We provide multiple examples of different coding styles which achieve this behavior in order to demonstrate that there are many ways to do this in ROS 2.

The following examples wait_set_subscriber.cpp, static_wait_set_subscriber.cpp and time_triggered_wait_set_subscriber.cpp show how to use a subscription in a node using a rclcpp wait-set. This is not a common use case in ROS 2 so this is not the recommended strategy to use by-default. This strategy makes sense in some specific situations, for example when the developer needs to have more control over callback order execution, to create custom triggering conditions or to use the timeouts provided by the wait-sets.

The example content_filtering.cpp shows how to use the content filtering feature for Subscriptions.

Changelog for package examples_rclcpp_minimal_subscriber

0.20.3 (2024-11-20)

0.20.2 (2024-07-29)

0.20.1 (2024-06-17)

0.20.0 (2024-04-26)

0.19.3 (2024-04-16)

• fix: Fixed compilation after API change of TimerBase::execute (#375) Co-authored-by: Janosch Machowinski <<J.Machowinski@cellumation.com>>
• Contributors: jmachowinski

0.19.2 (2024-03-28)

0.19.1 (2023-07-11)

• Split lambda and subscriber def in minimal example (#363)
• Contributors: Felipe Gomes de Melo

0.19.0 (2023-04-27)

0.18.0 (2023-04-11)

0.17.1 (2023-03-01)

0.17.0 (2023-02-14)

• Update the examples to C++17. (#353)
• [rolling] Update maintainers - 2022-11-07 (#352)
• Contributors: Audrow Nash, Chris Lalancette

0.16.2 (2022-11-02)

0.16.1 (2022-09-13)

0.16.0 (2022-04-29)

• add ContentFilteredTopic example. (#341)
• Contributors: Tomoya Fujita

0.15.0 (2022-03-01)

• Use [const&]{.title-ref} signature for read-only sub callbacks (#337)
• Contributors: Abrar Rahman Protyasha

0.14.0 (2022-01-14)

• Updated maintainers (#329)
• Contributors: Aditya Pande

0.13.0 (2021-10-18)

• Fix deprecated subscriber callbacks (#323)
• Contributors: Abrar Rahman Protyasha

0.12.0 (2021-08-05)

• Add wait set examples (#315)
• Add type adaption example (#300)
• Contributors: Audrow Nash, carlossvg

0.11.2 (2021-04-26)

0.11.1 (2021-04-12)

0.11.0 (2021-04-06)

• Unique network flows (#296)
• Contributors: Ananya Muddukrishna

0.10.3 (2021-03-18)

0.10.2 (2021-01-25)

0.10.1 (2020-12-10)

• Update maintainers (#292)
• Contributors: Shane Loretz

0.10.0 (2020-09-21)

• Make sure to include what you use in all examples. (#284)
• Remove a TODO in the not_composable demo. (#285)
• Add Topic Statistics Example (#281)
• Added common linters (#265)
• Contributors: Alejandro Hernández Cordero, Chris Lalancette, Devin Bonnie

0.9.2 (2020-06-01)

0.9.1 (2020-05-26)

0.9.0 (2020-04-30)

• Restructure rclcpp folders (#264)
• Contributors: Marya Belanger

0.8.2 (2019-11-19)

0.8.1 (2019-10-24)

0.7.3 (2019-05-29)

0.7.2 (2019-05-20)

0.7.1 (2019-05-08)

• Avoid deprecated API's by providing history settings (#240)
• Contributors: William Woodall

0.7.0 (2019-04-14)

0.6.2 (2019-02-08)

• Updated documentation. (#225)
• Contributors: Dirk Thomas

0.6.0 (2018-11-20)

• Added semicolons to all RCLCPP and RCUTILS macros. (#214)
• Contributors: Chris Lalancette

0.5.1 (2018-06-27)

• make Mikael Arguedas the maintainer (#212)
• Contributors: Mikael Arguedas

0.5.0 (2018-06-26)

• Change the not_composable example to destroy subscription first. (#210)
• Contributors: Chris Lalancette

0.4.0 (2017-12-08)

• use global node not local (#195)
• Use logging (#190)
• 0.0.3
• call shutdown before exiting (#179)
• 0.0.2
• rename executables with shorter names (#177)
• install executables in package specific path #173
• use CMAKE_X_STANDARD and check compiler rather than platform
• add pedantic flag
• Cpp14 (#147)
• Minimal service and client (#138)
• Add examples_ prefix to package names to avoid future collisions. (#137)
• attempt to improve indentation which includes a c++11 lambda
• fix cmake indentation and c++11 flag ordering
• change talker/listener to minimal_publisher/minimal_subscriber
• Contributors: Dirk Thomas, Mikael Arguedas, Morgan Quigley