Question about lack of a "procedural" subscriber.cpp

[ru2saig]

• [x] I have checked that this issue/bug/fix/correction has not been already created before in open or closed issues.

Type of bug

• [ ] A) Typo/error in Figure/text
• [ ] B) Bug in code
• [x] C) General comment, recommendation or petition

Issue Description

First off, I'd like to thank you for the excellent book and resource! I'm using it to study ROS2, and I'm really enjoying it so far. While reading the 2nd chapter and looking at the source code, I've noticed that there is no subscriber implementation without using classes like br2_basics/src/publisher.cpp in the br2_basics package. Is there any specific reason? Or did I miss a mention of it as an exercise?

[fmrico]

Hi @ru2saig

It's true. I have just checked it out. I recommended initially inheriting from rclcpp::Node and I didn't show an example with a simple function callback.

I can do it, but if you prefer you can give it a try yourself, make a PR and I can review it. What do you prefer?

Best

[ru2saig]

Hello!

I've given it a go, and have opened a PR: https://github.com/fmrico/book_ros2/pull/27