Function rclcpp::create_subscription(NodeT&, const std::string&, const rclcpp::QoS&, CallbackT&&, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>&, typename MessageMemoryStrategyT::SharedPtr)

Function Documentation

std::shared_ptr<SubscriptionT> rclcpp::create_subscription(NodeT &node, const std::string &topic_name, const rclcpp::QoS &qos, CallbackT &&callback, const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> &options = (rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()), typename MessageMemoryStrategyT::SharedPtr msg_mem_strat = (MessageMemoryStrategyT::create_default()))