27 lines
600 B
Rust
27 lines
600 B
Rust
use futures::future;
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use futures::stream::StreamExt;
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use r2r;
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#[tokio::main]
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async fn main() -> Result<(), Box<dyn std::error::Error>> {
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let ctx = r2r::Context::create()?;
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let mut node = r2r::Node::create(ctx, "testnode", "")?;
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let sub = node.subscribe::<r2r::std_msgs::msg::String>("/topic")?;
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let handle = tokio::task::spawn_blocking(move || loop {
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node.spin_once(std::time::Duration::from_millis(100));
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});
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sub.for_each(|msg| {
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println!("topic: new msg: {}", msg.data);
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future::ready(())
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}).await;
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handle.await?;
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Ok(())
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}
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