50 lines
1.5 KiB
Rust
50 lines
1.5 KiB
Rust
use futures::executor::LocalPool;
|
|
use futures::future;
|
|
use futures::stream::StreamExt;
|
|
use futures::task::LocalSpawnExt;
|
|
use r2r;
|
|
|
|
fn main() -> Result<(), Box<dyn std::error::Error>> {
|
|
let ctx = r2r::Context::create()?;
|
|
let mut node = r2r::Node::create(ctx, "testnode", "")?;
|
|
let mut sub = node.subscribe::<r2r::std_msgs::msg::String>("/topic")?;
|
|
let p = node.create_publisher::<r2r::std_msgs::msg::String>("/topic2")?;
|
|
|
|
let mut pool = LocalPool::new();
|
|
let spawner = pool.spawner();
|
|
|
|
// task that every other time forwards message to topic2
|
|
spawner.spawn_local(async move {
|
|
let mut x: i32 = 0;
|
|
loop {
|
|
match sub.next().await {
|
|
Some(msg) => {
|
|
if x % 2 == 0 {
|
|
p.publish(&r2r::std_msgs::msg::String {
|
|
data: format!("({}): new msg: {}", x, msg.data),
|
|
})
|
|
.unwrap();
|
|
}
|
|
}
|
|
None => break,
|
|
}
|
|
x += 1;
|
|
}
|
|
})?;
|
|
|
|
// for sub2 we just print the data
|
|
let sub2 = node.subscribe_untyped("/topic2", "std_msgs/msg/String")?;
|
|
spawner.spawn_local(async move {
|
|
sub2.for_each(|msg| {
|
|
println!("topic2: new msg: {}", msg.expect("deserialization error"));
|
|
future::ready(())
|
|
})
|
|
.await
|
|
})?;
|
|
|
|
loop {
|
|
node.spin_once(std::time::Duration::from_millis(100));
|
|
pool.run_until_stalled();
|
|
}
|
|
}
|