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#!/usr/bin/env python3
# shebang line for directing correct python executables. ROS2 uses system python installation, not conda.
import rclpy
from rclpy.node import Node
from std_msgs.msg import String
class JoyFeedbackReceiver(Node):
def __init__(self):
super().__init__('joy_feedback_receiver')
# Create a subscription to the 'joy_feedback' topic
self.subscription = self.create_subscription(
String,
'joy_feedback',
self.listener_callback,
10 # QoS depth
)
self.get_logger().info('Joy Feedback Receiver Node Initialized')
def listener_callback(self, msg):
# Log and print the received message
self.get_logger().info(f'Received feedback: {msg.data}')
def main(args=None):
rclpy.init(args=args)
receiver_node = JoyFeedbackReceiver()
try:
rclpy.spin(receiver_node)
except KeyboardInterrupt:
receiver_node.get_logger().info('Shutting down node...')
finally:
receiver_node.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()