/current_zone_of_interest

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/current_zone_of_interest Quick Facts

Category

Navigation

Message type

pal_zoi_detector/CurrentZoI

Direction

➡️ you normally subscribe to this topic.

Name of the zone of interest (zoi) where the robot is currently located, if any.

PUBLISHERS

• zoi_detector

Quick snippets

Check the publication rate

$ rostopic hz /current_zone_of_interest

Display the data published on the topic

$ rostopic echo /current_zone_of_interest

How to use in your code

Subscribe to the topic using Python

import rospy
from pal_zoi_detector.msg import CurrentZoI

def on_data(msg):

   print(msg)

if __name__ == "__main__":

  rospy.init_node("subscriber")

  rospy.Subscriber("/current_zone_of_interest", CurrentZoI, on_data)

  rospy.spin()

Subscribe to the topic using C++

#include <ros/ros.h>
#include <pal_zoi_detector/CurrentZoI.h>

void on_data(const pal_zoi_detector::CurrentZoI::ConstPrt& msg)
{
   ROS_INFO_STREAM("Got " << msg);
}

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

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

  ros::spin();
  return 0;
}