Hi, my ros subscriber is having trouble entering the callback. I'm using ROS_INFO to tell me if the callback is in.
In the rqt_graph, it shows that the subscriber node is subscribed to the topic that the publisher is publishing. Using rostopic echo "topic", it is displaying a lots of numbers that i'm presuming that it is the pointcloud.
below is my code.
Publisher
typedef pcl::PointCloud PointCloud;
int main(int argc, char** argv) {
ros::init (argc, argv, "pub_pcl");
ros::Publisher pub;
pub = nh.advertise ("input_cloud", 1);
pcl::PCLPointCloud2::Ptr cloud_blob (new pcl::PCLPointCloud2);
pcl::PCDReader reader;
reader.read (argv[1], *cloud_blob);
sensor_msgs::PointCloud2 output;
pcl_conversions::fromPCL(*cloud_blob, output);
ros::Rate loop_rate(10);
while (nh.ok())
{
pub.publish (output);
ros::spinOnce ();
loop_rate.sleep ();
}
}
Subscriber
void cloud_callback (const sensor_msgs::PointCloud2ConstPtr& cloud_msg){
ROS_INFO("inside callback");
}
int main (int argc, char** argv) {
ros::init (argc, argv, "cloud_sub");
ros::NodeHandle nh;
ros::Rate loop_rate(10);
ros::Subscriber sub;
while (nh.ok()) {
sub = nh.subscribe ("input_cloud", 1, cloud_callback);
ros::spinOnce ();
loop_rate.sleep ();
}
}
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