ros node that subscribes to topic and receives pose in python

To create a ROS node that subscribes to a topic and receives Pose messages, you can follow these steps:

1. Create a python file with the following initial lines to declare it as an executable:

   main.py
   #!/usr/bin/env python
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2. Import the necessary ROS libraries and the Pose message type:

   main.py
   import rospy
   from geometry_msgs.msg import Pose
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3. Define a callback function that will be executed every time a new message is received by the subscribed topic:

   main.py
   def pose_callback(data):
       rospy.loginfo(rospy.get_caller_id() + "I heard %s", data)
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4. Initiate the ROS node and subscribe to the desired topic, registering the callback function as a handler:

   main.py
   rospy.init_node('pose_subscriber', anonymous=True)
   rospy.Subscriber("pose_topic", Pose, pose_callback)
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5. Call the rospy.spin() method to keep the node alive and waiting for new messages:

   main.py
   rospy.spin()
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The full code snippet will look like this:

main.py
#!/usr/bin/env python

import rospy
from geometry_msgs.msg import Pose

def pose_callback(data):
    rospy.loginfo(rospy.get_caller_id() + "I heard %s", data)

rospy.init_node('pose_subscriber', anonymous=True)
rospy.Subscriber("pose_topic", Pose, pose_callback)

rospy.spin()
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Remember to replace pose_topic and Pose with the actual topic name and desired message type for your use case.