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https://github.com/orbbec/OrbbecSDK_ROS2.git
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35 lines
795 B
Python
Executable File
35 lines
795 B
Python
Executable File
#!/usr/bin/env python3
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from sensor_msgs.msg import PointCloud2
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from rclpy.qos import qos_profile_sensor_data
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import rclpy
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from rclpy.node import Node
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class TestNode(Node):
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def __init__(self):
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super().__init__("test_node")
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self.subscription = self.create_subscription(
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PointCloud2, "/camera/depth/points", self.listener_callback, qos_profile_sensor_data
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)
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def listener_callback(self, msg):
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pass
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def main(args=None):
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rclpy.init(args=args)
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test_node = TestNode()
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rclpy.spin(test_node)
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# Destroy the node explicitly
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# (optional - otherwise it will be done automatically
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# when the garbage collector destroys the node object)
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test_node.destroy_node()
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rclpy.shutdown()
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if __name__ == "__main__":
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main()
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