ROS Topic Subscriber

Follow along: ROS Topic Subscriber Example

The program launching process along with parameter settings are all simplified and set up on the Jupyter Notebook Environment.

(The Jetson Board used for these examples are => Jetson Nano)

Open the following jupyter notebook:

Import the necessary python libraries and modules

import rospy
from std_msgs.msg import String

def callback(data):
    rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)

Create listener() function
Within the listener function:
- Create listener Node
- Subscribe to Chatter Topic Message
- Handle Subscriber Callback

def listener():
    rospy.init_node('listener', anonymous=True)
    rospy.Subscriber("chatter", String, callback)
    rospy.spin()

listener()