closed_captions`¶

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This documentation page has been auto-generated.

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/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¶

#!/usr/bin/env python

import rclpy
from rclpy.node import Node

from hri_actions_msgs.msg import ClosedCaption


class ClosedCaptionsSubscriber(Node):

    def __init__(self):
        super().__init__('communication_hub_closed_captions_subscriber')
        self.subscription = self.create_subscription(
            ClosedCaption,
            '/communication_hub/closed_captions',
            self.listener_callback,
            10)

    def listener_callback(self, msg):
        # see https://docs.ros2.org/latest/api/hri_actions_msgs/msg/ClosedCaption.html
        # for the msg structure
        self.get_logger().info('I heard: "%s"' % msg.data)


if __name__ == '__main__':
    rclpy.init(args=args)

    subscriber = ClosedCaptionsSubscriber()

    rclpy.spin(subscriber)

    rclpy.shutdown()

Publish to the topic¶

#!/usr/bin/env python

import rclpy
from rclpy.node import Node

from hri_actions_msgs.msg import ClosedCaption


class ClosedCaptionsPublisher(Node):

    def __init__(self):
        super().__init__('communication_hub_closed_captions_publisher')
        self.publisher = self.create_publisher(
            ClosedCaption,
            '/communication_hub/closed_captions',
            10)
        timer_period = 0.5  # seconds
        self.timer = self.create_timer(timer_period, self.timer_callback)

    def timer_callback(self):

        msg = ClosedCaption()

        # check https://docs.ros2.org/latest/api/hri_actions_msgs/msg/ClosedCaption.html
        # for the msg structure
        # msg.data = ...

        self.publisher.publish(msg)
        self.get_logger().info('Publishing: "%s"' % msg.data)


if __name__ == '__main__':
    rclpy.init(args=args)

    publisher = ClosedCaptionsPublisher()

    rclpy.spin(publisher)

    rclpy.shutdown()

Subscribe to the topic using C++¶

#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "hri_actions_msgs/msg/closed_caption.hpp"

using std::placeholders::_1;
using namespace rclcpp;

class ClosedCaptionsSubscriber : public rclcpp::Node
{
public:
    ClosedCaptionsSubscriber()
    : Node("communication_hub_closed_captions_subscriber")
    {
    subscription_ = this->create_subscription<hri_actions_msgs::msg::ClosedCaption>(
            "/communication_hub/closed_captions",
            10,
            std::bind(&ClosedCaptionsSubscriber::topic_callback, this, _1));
    }

private:
    void topic_callback(const hri_actions_msgs::msg::ClosedCaption::SharedPtr msg) const
    {
    // see https://docs.ros2.org/latest/api/hri_actions_msgs/msg/ClosedCaption.html
    // for the msg structure
    RCLCPP_INFO_STREAM(this->get_logger(), "Got " << msg->data);
    }

    Subscription<hri_actions_msgs::msg::ClosedCaption>::SharedPtr subscription_;
};

int main(int argc, char * argv[])
{
init(argc, argv);
spin(std::make_shared<ClosedCaptionsSubscriber>());
shutdown();
return 0;
}

Publish to the topic using C++¶

#include <chrono>
#include <functional>
#include <memory>
#include <string>

#include "rclcpp/rclcpp.hpp"
#include "hri_actions_msgs/msg/closed_caption.hpp"

using namespace std::chrono_literals;
using namespace rclcpp;

class ClosedCaptionsPublisher : public rclcpp::Node
{
public:
    ClosedCaptionsPublisher()
    : Node("communication_hub_closed_captions_publisher")
    {
    publisher_ = this->create_publisher<hri_actions_msgs::msg::ClosedCaption>("/communication_hub/closed_captions", 10);
    timer_ = this->create_wall_timer(
                500ms,
                std::bind(&ClosedCaptionsPublisher::timer_callback, this));
    }

private:
    void timer_callback()
    {
    auto msg = hri_actions_msgs::msg::ClosedCaption();

    // check https://docs.ros2.org/latest/api/hri_actions_msgs/msg/ClosedCaption.html
    // for the msg structure
    //msg.data = ...;
    publisher_->publish(msg);
    }

    TimerBase::SharedPtr timer_;
    Publisher<hri_actions_msgs::msg::ClosedCaption>::SharedPtr publisher_;
};

int main(int argc, char * argv[])
{
init(argc, argv);
spin(std::make_shared<ClosedCaptionsPublisher>());
shutdown();
return 0;
}

/communication_hub/closed_captions¶

Quick snippets¶

How to use in your code¶

`/communication_hub/closed_captions`¶