![]() | 1 | initial version |
Since you already include ROS, one way is to create a ROS node within the plugin instead of the transport::NodePtr, and create a ROS subscriber. Put both of the following into private:
ros::NodeHandle node;
private: ros::Subscriber sub1;
Then define the subscriber within "public: void Load(physics::ModelPtr _parent, sdf::ElementPtr /_sdf/){...}"
sub1 = node.subscribe("/Topic_of_interest", 1, &ModelPush::callback_function,this);
and finally create the callback function to handle the incoming messages
public:
void callback_function(<whatever your message type is>) {<your code here>}