ROSNOTE : ROS从callback中获取数据在回调函数以外使用_ros回调函数能否写在别的源文件中

https://blog.csdn.net/xinwenfei/article/details/89384578

文中完整代码的git地址:

https://github.com/xinwf/useful/tree/master/ros/getDataOutOfCallbackWithClass/src

方法思路:借助类来实现

#include <ros/ros.h>
#include <std_msgs/String.h>
#include <sstream>
 
/**
 * This tutorial demonstrates subscribing to a topic using a class method as the callback.
 */
// %Tag(CLASS_WITH_DECLARATION)%
class Listener
{
public:
  std::string copy_data = "init init init";
  int count = 0;
public:
  void callback(const std_msgs::String::ConstPtr& msg);
  void print_data2(){std::cout << "Copy data is :" << copy_data << "\n";}
};
// %EndTag(CLASS_WITH_DECLARATION)%
 
void Listener::callback(const std_msgs::String::ConstPtr& msg)
{
  ROS_INFO("I heard: [%s]", msg->data.c_str());
  std::stringstream ss;
  ss << msg->data.c_str();
  ss >> copy_data;
  std::cout <<"copy_data is: " << copy_data <<"\n";
  print_data2();
  ++count;
}
 
int main(int argc, char **argv)
{
  ros::init(argc, argv, "listener_class");
  ros::NodeHandle n;
 
// %Tag(SUBSCRIBER)%
  Listener listener;
  ros::Subscriber sub = n.subscribe("chatter", 1000, &Listener::callback, &listener);
  ros::Rate loop_rate(10);
// %EndTag(SUBSCRIBER)%
  while(ros::ok() and listener.count <=3){
    ros::spinOnce();
    loop_rate.sleep();
  }
  std::cout << "After spin: \n";
  listener.print_data2();
  return 0;
}