/intents

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/intents Quick Facts

Category

Developing applications

Message type

hri_actions_msgs/Intent

Direction

↔️ you might both publish and subscribe to this topic.

An intent, encoding a desired activity to be scheduled by the robot (not to be confused by the chatbot intents). Read more about Intents.

Quick snippets

Check the publication rate

$ rostopic hz /intents

Display the data published on the topic

$ rostopic echo /intents

How to use in your code

Subscribe to the topic using Python

import rospy
from hri_actions_msgs.msg import Intent

def on_data(msg):

   # see http://docs.ros.org/en/api/hri_actions_msgs/html/msg/Intent.html
   # for the msg structure
   print(msg)

if __name__ == "__main__":

  rospy.init_node("subscriber")

  rospy.Subscriber("/intents", Intent, on_data)

  rospy.spin()

Subscribe to the topic using C++

#include <ros/ros.h>
#include <hri_actions_msgs/Intent.h>

void on_data(const hri_actions_msgs::Intent::ConstPrt& msg)
{
   // see http://docs.ros.org/en/api/hri_actions_msgs/html/msg/Intent.html
   // for the msg structure
   ROS_INFO_STREAM("Got " << msg);
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "subscriber");
  ros::NodeHandle n;

  ros::Subscriber sub = n.subscribe("/intents", 10, on_data);

  ros::spin();
  return 0;
}