update`#

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/eulero_manager/update Quick Facts

Category: 🧭 Navigation
Message type: visualization_msgs/msg/InteractiveMarkerUpdate
Direction: ↔️ you might both publish and subscribe to this topic.

Visualizes and modifies environmental metadata using RViz.

Quick snippets#

Check the publication rate#

$ ros2 topic hz /eulero_manager/update

Display the data published on the topic#

$ ros2 topic echo /eulero_manager/update

How to use in your code#

Subscribe to the topic using Python#

#!/usr/bin/env python

import rclpy
from rclpy.node import Node

from visualization_msgs.msg import InteractiveMarkerUpdate


class UpdateSubscriber(Node):

    def __init__(self):
        super().__init__('eulero_manager_update_subscriber')
        self.subscription = self.create_subscription(
            InteractiveMarkerUpdate,
            '/eulero_manager/update',
            self.listener_callback,
            10)

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


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

    subscriber = UpdateSubscriber()

    rclpy.spin(subscriber)

    rclpy.shutdown()

Publish to the topic#

#!/usr/bin/env python

import rclpy
from rclpy.node import Node

from visualization_msgs.msg import InteractiveMarkerUpdate


class UpdatePublisher(Node):

    def __init__(self):
        super().__init__('eulero_manager_update_publisher')
        self.publisher = self.create_publisher(
            InteractiveMarkerUpdate,
            '/eulero_manager/update',
            10)
        timer_period = 0.5  # seconds
        self.timer = self.create_timer(timer_period, self.timer_callback)

    def timer_callback(self):

        msg = InteractiveMarkerUpdate()

        # check https://docs.ros2.org/latest/api/visualization_msgs/msg/InteractiveMarkerUpdate.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 = UpdatePublisher()

    rclpy.spin(publisher)

    rclpy.shutdown()

Subscribe to the topic using C++#

#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "visualization_msgs/msg/interactive_marker_update.hpp"

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

class UpdateSubscriber : public rclcpp::Node
{
public:
    UpdateSubscriber()
    : Node("eulero_manager_update_subscriber")
    {
    subscription_ = this->create_subscription<visualization_msgs::msg::InteractiveMarkerUpdate>(
            "/eulero_manager/update",
            10,
            std::bind(&UpdateSubscriber::topic_callback, this, _1));
    }

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

    Subscription<visualization_msgs::msg::InteractiveMarkerUpdate>::SharedPtr subscription_;
};

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

Publish to the topic using C++#

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

#include "rclcpp/rclcpp.hpp"
#include "visualization_msgs/msg/interactive_marker_update.hpp"

using namespace std::chrono_literals;
using namespace rclcpp;

class UpdatePublisher : public rclcpp::Node
{
public:
    UpdatePublisher()
    : Node("eulero_manager_update_publisher")
    {
    publisher_ = this->create_publisher<visualization_msgs::msg::InteractiveMarkerUpdate>("/eulero_manager/update", 10);
    timer_ = this->create_wall_timer(
                500ms,
                std::bind(&UpdatePublisher::timer_callback, this));
    }

private:
    void timer_callback()
    {
    auto msg = visualization_msgs::msg::InteractiveMarkerUpdate();

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

    TimerBase::SharedPtr timer_;
    Publisher<visualization_msgs::msg::InteractiveMarkerUpdate>::SharedPtr publisher_;
};

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

/eulero_manager/update#

Quick snippets#

How to use in your code#

`/eulero_manager/update`#