/communication_hub/closed_captions

Caution

This documentation page has been auto-generated.

It may be missing some details.

/communication_hub/closed_captions Quick Facts

Category

💬 Communication

Message type

hri_actions_msgs/msg/ClosedCaption

Direction

🖐️ this topic is protected: you should not have to write/read from it directly!

Quick snippets

Check the publication rate
$ ros2 topic hz /communication_hub/closed_captions
Display the data published on the topic
$ ros2 topic echo /communication_hub/closed_captions

How to use in your code

Subscribe to the topic using Python
 1#!/usr/bin/env python
 2
 3import rclpy
 4from rclpy.node import Node
 5
 6from hri_actions_msgs.msg import ClosedCaption
 7
 8
 9class ClosedCaptionsSubscriber(Node):
10
11    def __init__(self):
12        super().__init__('communication_hub_closed_captions_subscriber')
13        self.subscription = self.create_subscription(
14            ClosedCaption,
15            '/communication_hub/closed_captions',
16            self.listener_callback,
17            10)
18
19    def listener_callback(self, msg):
20        # see https://docs.ros2.org/latest/api/hri_actions_msgs/msg/ClosedCaption.html
21        # for the msg structure
22        self.get_logger().info('I heard: "%s"' % msg.data)
23
24
25if __name__ == '__main__':
26    rclpy.init(args=args)
27
28    subscriber = ClosedCaptionsSubscriber()
29
30    rclpy.spin(subscriber)
31
32    rclpy.shutdown()
Publish to the topic
 1#!/usr/bin/env python
 2
 3import rclpy
 4from rclpy.node import Node
 5
 6from hri_actions_msgs.msg import ClosedCaption
 7
 8
 9class ClosedCaptionsPublisher(Node):
10
11    def __init__(self):
12        super().__init__('communication_hub_closed_captions_publisher')
13        self.publisher = self.create_publisher(
14            ClosedCaption,
15            '/communication_hub/closed_captions',
16            10)
17        timer_period = 0.5  # seconds
18        self.timer = self.create_timer(timer_period, self.timer_callback)
19
20    def timer_callback(self):
21
22        msg = ClosedCaption()
23
24        # check https://docs.ros2.org/latest/api/hri_actions_msgs/msg/ClosedCaption.html
25        # for the msg structure
26        # msg.data = ...
27
28        self.publisher.publish(msg)
29        self.get_logger().info('Publishing: "%s"' % msg.data)
30
31
32if __name__ == '__main__':
33    rclpy.init(args=args)
34
35    publisher = ClosedCaptionsPublisher()
36
37    rclpy.spin(publisher)
38
39    rclpy.shutdown()