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lazy_subscriber package from ros2_journey_examples reposervice_test_pkg lifecycle_examples lazy_subscriber service_with_introspection test_type_adaptation change_logging_level |
Package Summary
| Tags | No category tags. |
| Version | 0.0.0 |
| License | MIT |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/nirwester/ros2_journey_examples.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2023-09-08 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Package to exemplify the usage of the subscription callbacks
Additional Links
No additional links.
Maintainers
- Marco Bassa
Authors
No additional authors.
Compile with "colcon build" note: requires ROS 2 >= Iron
source install/setup.sh
Terminal 1: ros2 run lazy_subscriber publisher
Terminal 2: ros2 run lazy_subscriber lazy_subscriber
Terminal 3: ros2 run lazy_subscriber subscriber
In terminal 2 you will observe how the node subscribes to the input data only if the subscription on Terminal 3 is active.
Example of output:
ros2 run lazy_subscriber lazy_subscriber
# Starting the subscriber
[INFO] [1683668692.448767504] [lazy_subscriber]: Tot Matching connections: 1
[INFO] [1683668692.448843449] [lazy_subscriber]: Tot Count change: 1
[INFO] [1683668692.448854225] [lazy_subscriber]: Current connections: 1
[INFO] [1683668692.448863348] [lazy_subscriber]: Current change: 1
[INFO] [1683668692.448884488] [lazy_subscriber]: Creating subscription
[INFO] [1683668692.947240055] [lazy_subscriber]: I heard: 'Hello, world! 88' and published 'HELLO, WORLD! 88'
[INFO] [1683668693.447202165] [lazy_subscriber]: I heard: 'Hello, world! 89' and published 'HELLO, WORLD! 89'
[INFO] [1683668693.947157774] [lazy_subscriber]: I heard: 'Hello, world! 90' and published 'HELLO, WORLD! 90'
[INFO] [1683668694.447169149] [lazy_subscriber]: I heard: 'Hello, world! 91' and published 'HELLO, WORLD! 91'
[INFO] [1683668694.947173100] [lazy_subscriber]: I heard: 'Hello, world! 92' and published 'HELLO, WORLD! 92'
[INFO] [1683668695.447198212] [lazy_subscriber]: I heard: 'Hello, world! 93' and published 'HELLO, WORLD! 93'
[INFO] [1683668695.946906707] [lazy_subscriber]: I heard: 'Hello, world! 94' and published 'HELLO, WORLD! 94'
[INFO] [1683668696.447525618] [lazy_subscriber]: I heard: 'Hello, world! 95' and published 'HELLO, WORLD! 95'
[INFO] [1683668696.947187049] [lazy_subscriber]: I heard: 'Hello, world! 96' and published 'HELLO, WORLD! 96'
[INFO] [1683668697.447261313] [lazy_subscriber]: I heard: 'Hello, world! 97' and published 'HELLO, WORLD! 97'
[INFO] [1683668697.947261491] [lazy_subscriber]: I heard: 'Hello, world! 98' and published 'HELLO, WORLD! 98'
[INFO] [1683668698.447198314] [lazy_subscriber]: I heard: 'Hello, world! 99' and published 'HELLO, WORLD! 99'
[INFO] [1683668698.947234688] [lazy_subscriber]: I heard: 'Hello, world! 100' and published 'HELLO, WORLD! 100'
[INFO] [1683668699.447262908] [lazy_subscriber]: I heard: 'Hello, world! 101' and published 'HELLO, WORLD! 101'
[INFO] [1683668699.947207446] [lazy_subscriber]: I heard: 'Hello, world! 102' and published 'HELLO, WORLD! 102'
[INFO] [1683668700.447237216] [lazy_subscriber]: I heard: 'Hello, world! 103' and published 'HELLO, WORLD! 103'
[INFO] [1683668700.947211019] [lazy_subscriber]: I heard: 'Hello, world! 104' and published 'HELLO, WORLD! 104'
[INFO] [1683668701.447251620] [lazy_subscriber]: I heard: 'Hello, world! 105' and published 'HELLO, WORLD! 105'
[INFO] [1683668701.947265616] [lazy_subscriber]: I heard: 'Hello, world! 106' and published 'HELLO, WORLD! 106'
[INFO] [1683668702.447308267] [lazy_subscriber]: I heard: 'Hello, world! 107' and published 'HELLO, WORLD! 107'
[INFO] [1683668702.947244357] [lazy_subscriber]: I heard: 'Hello, world! 108' and published 'HELLO, WORLD! 108'
[INFO] [1683668703.447193851] [lazy_subscriber]: I heard: 'Hello, world! 109' and published 'HELLO, WORLD! 109'
[INFO] [1683668703.947175435] [lazy_subscriber]: I heard: 'Hello, world! 110' and published 'HELLO, WORLD! 110'
[INFO] [1683668704.447186665] [lazy_subscriber]: I heard: 'Hello, world! 111' and published 'HELLO, WORLD! 111'
[INFO] [1683668704.947130708] [lazy_subscriber]: I heard: 'Hello, world! 112' and published 'HELLO, WORLD! 112'
[INFO] [1683668705.447184271] [lazy_subscriber]: I heard: 'Hello, world! 113' and published 'HELLO, WORLD! 113'
[INFO] [1683668705.947092619] [lazy_subscriber]: I heard: 'Hello, world! 114' and published 'HELLO, WORLD! 114'
[INFO] [1683668706.447338889] [lazy_subscriber]: I heard: 'Hello, world! 115' and published 'HELLO, WORLD! 115'
[INFO] [1683668706.947243102] [lazy_subscriber]: I heard: 'Hello, world! 116' and published 'HELLO, WORLD! 116'
[INFO] [1683668707.446939748] [lazy_subscriber]: I heard: 'Hello, world! 117' and published 'HELLO, WORLD! 117'
[INFO] [1683668707.947166349] [lazy_subscriber]: I heard: 'Hello, world! 118' and published 'HELLO, WORLD! 118'
[INFO] [1683668708.447179726] [lazy_subscriber]: I heard: 'Hello, world! 119' and published 'HELLO, WORLD! 119'
[INFO] [1683668708.947181982] [lazy_subscriber]: I heard: 'Hello, world! 120' and published 'HELLO, WORLD! 120'
[INFO] [1683668709.447214533] [lazy_subscriber]: I heard: 'Hello, world! 121' and published 'HELLO, WORLD! 121'
[INFO] [1683668709.947140368] [lazy_subscriber]: I heard: 'Hello, world! 122' and published 'HELLO, WORLD! 122'
[INFO] [1683668710.447176022] [lazy_subscriber]: I heard: 'Hello, world! 123' and published 'HELLO, WORLD! 123'
[INFO] [1683668710.947173088] [lazy_subscriber]: I heard: 'Hello, world! 124' and published 'HELLO, WORLD! 124'
[INFO] [1683668711.006819453] [lazy_subscriber]: Tot Matching connections: 1
[INFO] [1683668711.006850562] [lazy_subscriber]: Tot Count change: 0
[INFO] [1683668711.006858694] [lazy_subscriber]: Current connections: 0
[INFO] [1683668711.006865480] [lazy_subscriber]: Current change: -1
[INFO] [1683668711.006871064] [lazy_subscriber]: Stopping subscription
# Stopped the subscriber and restarted it after some seconds
[INFO] [1683668738.106214218] [lazy_subscriber]: Tot Matching connections: 2
[INFO] [1683668738.106240120] [lazy_subscriber]: Tot Count change: 1
[INFO] [1683668738.106277104] [lazy_subscriber]: Current connections: 1
[INFO] [1683668738.106281756] [lazy_subscriber]: Current change: 1
[INFO] [1683668738.106286987] [lazy_subscriber]: Creating subscription
[INFO] [1683668738.447190715] [lazy_subscriber]: I heard: 'Hello, world! 179' and published 'HELLO, WORLD! 179'
[INFO] [1683668738.947145962] [lazy_subscriber]: I heard: 'Hello, world! 180' and published 'HELLO, WORLD! 180'
[INFO] [1683668739.447257475] [lazy_subscriber]: I heard: 'Hello, world! 181' and published 'HELLO, WORLD! 181'
[INFO] [1683668739.947287829] [lazy_subscriber]: I heard: 'Hello, world! 182' and published 'HELLO, WORLD! 182'
[INFO] [1683668740.447213113] [lazy_subscriber]: I heard: 'Hello, world! 183' and published 'HELLO, WORLD! 183'
[INFO] [1683668740.947212865] [lazy_subscriber]: I heard: 'Hello, world! 184' and published 'HELLO, WORLD! 184'
[INFO] [1683668741.447179218] [lazy_subscriber]: I heard: 'Hello, world! 185' and published 'HELLO, WORLD! 185'
[INFO] [1683668741.947285767] [lazy_subscriber]: I heard: 'Hello, world! 186' and published 'HELLO, WORLD! 186'
[INFO] [1683668742.447271467] [lazy_subscriber]: I heard: 'Hello, world! 187' and published 'HELLO, WORLD! 187'
[INFO] [1683668742.947269381] [lazy_subscriber]: I heard: 'Hello, world! 188' and published 'HELLO, WORLD! 188'
[INFO] [1683668743.447305746] [lazy_subscriber]: I heard: 'Hello, world! 189' and published 'HELLO, WORLD! 189'
[INFO] [1683668743.920900848] [lazy_subscriber]: Tot Matching connections: 2
[INFO] [1683668743.921002415] [lazy_subscriber]: Tot Count change: 0
[INFO] [1683668743.921034245] [lazy_subscriber]: Current connections: 0
[INFO] [1683668743.921071887] [lazy_subscriber]: Current change: -1
[INFO] [1683668743.921109646] [lazy_subscriber]: Stopping subscription
# Stopping the subscriber again
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| std_msgs | |
| rclcpp |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged lazy_subscriber at Robotics Stack Exchange
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