PollingSubscriber

agnocast::PollingSubscriber<MessageT>

Polling subscription that retrieves messages on demand. Wraps TakeSubscription with a simplified interface.

Example:

// Polling subscription — call take_data() in a timer callback
auto sub = this->create_subscription<MyMsg>("/topic", rclcpp::QoS(1));

auto timer = this->create_wall_timer(100ms, [this, sub]() {
  auto msg = sub->take_data();
  if (msg) {
    RCLCPP_INFO(get_logger(), "Polled: %d", msg->data);
  }
});

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take_data()

agnocast::ipc_shared_ptr<MessageT> PollingSubscriber::take_data()

Retrieve the latest message. Always returns the most recent message even if already retrieved. Returns an empty pointer if no message has been published yet.

Template Parameter	Description
MessageT	ROS message type.
Returns	Shared pointer to the latest message.