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touch my_py_pkg/sub.py chmod -R 777 my_py_pkg
This will create the new empty file, and fix the permissions so we can write to it from VS Code.
Cut and paste the following code into the new file:
import rclpy from rclpy.node import Node from std_msgs.msg import String class Listener(Node): def __init__(self): super().__init__("node_test") self.counter_ = 0 # create_subscriber needs 3 parameters: Msg Type, topic name, the callback, and queue size buffer self.subscriber = self.create_subscription(String, "Hello", self.callback_hello, 10) self.get_logger().info("Subscribed to Hello topic") def callback_hello(self, message): self.get_logger().info(message.data) def main(args=None): rclpy.init(args=args) node = Listener() rclpy.spin(node) rclpy.shutdown() if __name__ == "__main__": main()
We now need to update setup.py to include the entry_point for our code. An entry point is the name of the python scripts that are available to run from with the package, and are shown in the list when you type ros2 run my_py_pkg.
setup.py
entry point
ros2 run my_py_pkg
my_py_pkg
entry_points={ 'console_scripts' : [ "pub = my_py_pkg.pub:main", "talker = my_py_pkg.talker:main", "listener = my_py_pkg.sub:main" ], },
We can now build out package using colcon build. Do this from the root of the workspace (in this case /ros2/my_py_pkg):
colcon build
/ros2/my_py_pkg
cd /ros2/my_py_pkg
colcon build source install/setup.bash
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