add new version of python subscriber

mara_minimal_subscriber/CMakeLists.txt

@@ -24,7 +24,8 @@ install(TARGETS
 
 install(
   PROGRAMS
-  scripts/mara_minimal_subscriber.py
+  scripts/mara_minimal_subscriber_v1.py
+  scripts/mara_minimal_subscriber_v2.py
   DESTINATION lib/${PROJECT_NAME})
 
 ament_package()

mara_minimal_subscriber/scripts/mara_minimal_subscriber.py → mara_minimal_subscriber/scripts/mara_minimal_subscriber_v1.py

@@ -6,7 +6,7 @@
 
 # Function that will be called once a message is published to the topic we are subscribed
 def minimal_callback(msg):
-    print('Position:' + str(msg.position))
+    print('Position:', str(msg.position))
 
 # -------- #
 

mara_minimal_subscriber/scripts/mara_minimal_subscriber_v2.py

@@ -0,0 +1,38 @@
+#!/usr/bin/python3
+
+import rclpy
+from rclpy.node import Node
+from rclpy.qos import qos_profile_sensor_data
+from hrim_actuator_rotaryservo_msgs.msg import StateRotaryServo
+
+class MinimalSubscriber(Node):
+
+    def __init__(self):
+        # Initialize Node with name "mara_minimal_subscriber"
+        super().__init__('mara_minimal_subscriber')
+
+        # Subscribe to topic "/hrim_actuation_servomotor_000000000001/state_axis1" and link it to "minimal_callback" function
+        self.create_subscription(StateRotaryServo, '/hrim_actuation_servomotor_000000000001/state_axis1',
+            self.minimal_callback,
+            qos_profile=qos_profile_sensor_data) # QoS profile for reading (joint) sensors
+
+
+    def minimal_callback(self, msg):
+        '''
+        Function that will be called once a message is published to the topic we are subscribed
+        '''
+        self.get_logger().info('Position: {}'.format(msg.position))
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = MinimalSubscriber()
+    rclpy.spin(node)
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()