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#!/usr/bin/env python3 # simple_sub.py — escuta String em /chatter import rclpy from rclpy.node import Node from std_msgs.msg import String class SimpleSubscriber(Node): def __init__(self): super().__init__('simple_subscriber') self.sub = self.create_subscription( String, 'chatter', self.callback, 10, ) self.get_logger().info('SimpleSubscriber ON -> topic: /chatter') def callback(self, msg: String): self.get_logger().info(f'Recebido: "{msg.data}"') def main(): rclpy.init() node = SimpleSubscriber() try: rclpy.spin(node) except KeyboardInterrupt: pass finally: node.destroy_node() rclpy.shutdown() if __name__ == '__main__': main()
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