| import rclpy | |
| from rclpy.node import Node | |
| from sensor_msgs.msg import JointState | |
| class SimpleSubscriberNode(Node): | |
| def __init__(self): | |
| super().__init__('simple_subscriber_node') | |
| self.create_subscription( | |
| JointState, | |
| '/unix/recorded_joint_states', | |
| self.callback, | |
| 10 | |
| ) | |
| self.get_logger().info("Subscribed to /unix/recorded_joint_states") | |
| def callback(self, msg): | |
| self.get_logger().info(f"Received joint states: {msg.name}, positions: {msg.position}") | |
| def main(args=None): | |
| rclpy.init(args=args) | |
| node = SimpleSubscriberNode() | |
| try: | |
| rclpy.spin(node) | |
| except KeyboardInterrupt: | |
| pass | |
| finally: | |
| node.destroy_node() | |
| rclpy.shutdown() | |
| if __name__ == '__main__': | |
| main() | |