CLEARPATH Turtlebot4 - Page 102

ROS2 topic information
Test Create® 3 Button 1
Now that we are subscribed, lets test out our node by printing a message every time button 1 is
pressed.
Edit the interface_buttons_callback function to look like this:
// Interface buttons subscription callback
void interface_buttons_callback(
const irobot_create_msgs::msg::InterfaceButtons::SharedPtr create3_buttons_msg)
{
// Button 1 is pressed
if (create3_buttons_msg->button_1.is_pressed) {
RCLCPP_INFO(this->get_logger(), "Button 1 Pressed!");
}
}