[🤔 ROS2?] /touch_web_state#
Caution
This documentation page has been auto-generated.
It may be missing some details.
/touch_web_state Quick Facts
- Category
- Message type
pal_web_msgs/msg/TouchWeb
- Direction
➡️ you normally subscribe to this topic.
Quick snippets#
Check the publication rate#
$ ros2 topic hz /touch_web_state
Display the data published on the topic#
$ ros2 topic echo /touch_web_state
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 pal_web_msgs.msg import TouchWeb
7
8
9class TouchWebStateSubscriber(Node):
10
11 def __init__(self):
12 super().__init__('touch_web_state_subscriber')
13 self.subscription = self.create_subscription(
14 TouchWeb,
15 '/touch_web_state',
16 self.listener_callback,
17 10)
18
19 def listener_callback(self, msg):
20 self.get_logger().info('I heard: "%s"' % msg.data)
21
22
23if __name__ == '__main__':
24 rclpy.init(args=args)
25
26 subscriber = TouchWebStateSubscriber()
27
28 rclpy.spin(subscriber)
29
30 rclpy.shutdown()
Subscribe to the topic using C++#
1#include <memory>
2
3#include "rclcpp/rclcpp.hpp"
4#include "pal_web_msgs/msg/touch_web.hpp"
5
6using std::placeholders::_1;
7using namespace rclcpp;
8
9class TouchWebStateSubscriber : public rclcpp::Node
10{
11public:
12 TouchWebStateSubscriber()
13 : Node("touch_web_state_subscriber")
14 {
15 subscription_ = this->create_subscription<pal_web_msgs::msg::TouchWeb>(
16 "/touch_web_state",
17 10,
18 std::bind(&TouchWebStateSubscriber::topic_callback, this, _1));
19 }
20
21private:
22 void topic_callback(const pal_web_msgs::msg::TouchWeb::SharedPtr msg) const
23 {
24 RCLCPP_INFO_STREAM(this->get_logger(), "Got " << msg->data);
25 }
26
27 Subscription<pal_web_msgs::msg::TouchWeb>::SharedPtr subscription_;
28};
29
30int main(int argc, char * argv[])
31{
32init(argc, argv);
33spin(std::make_shared<TouchWebStateSubscriber>());
34shutdown();
35return 0;
36}
You can also access this topic from a webpage displayed on the robot’s touchscreen via this endpoint:
http://<robot>-0c/topic/touch_web_state
(replace <robot>-0c by the serial number of your own robot).
See js-api for the general documentation of the REST endpoints and code samples.