Generic subscriptions

[DanMesh]

Allows adding subscriptions to arbitrary ROS topics.
Users can register (multiple) callbacks or simply poll the last-received message.

Example usage

px4_ros2::Subscription<px4_msgs::msg::VehicleLocalPosition> ros_sub(context, "/fmu/out/vehicle_local_position");

// Create callback
ros_sub.onUpdate([](px4_msgs::msg::VehicleLocalPosition msg) {
    std::cout << "Local pos from callback: " << msg.x << " " << msg.y << " " << msg.z << std::endl;
});

// Poll latest message
px4_msgs::msg::VehicleLocalPosition msg = ros_sub.last();
std::cout << "Local pos latest: " << msg.x << " " << msg.y << " " << msg.z << std::endl;

[bkueng]

Nice