add simple subscriber

src/wb/CMakeLists.txt

@@ -40,6 +40,7 @@ include_directories(
   ${roscpp_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
   ${GAZEBO_INCLUDE_DIRS}
+  src
 )
 
 # Compile plugin
@@ -57,3 +58,7 @@ catkin_install_python(PROGRAMS scripts/key_in.py
 catkin_install_python(PROGRAMS scripts/cam_control.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
+
+# Compile the simple subscriber
+add_executable(simp src/simple_sub.cc)
+target_link_libraries(simp ${catkin_LIBRARIES} ${roscpp_LIBRARIES})

src/wb/src/simple_sub.cc

@@ -0,0 +1,25 @@
+#include <ros/ros.h>
+#include <geometry_msgs/Twist.h>
+#include <string>
+#include "./simple_sub.h"
+
+int main(int argc, char **argv) {
+    // Step 1: Set up the node
+
+    // Set up subscriber
+    std::string subName = "/wheely_boi/wheely_boi/cmd";
+    // Step 2: Attach a subscriber to this node and point to chatterCallback
+
+    // Don't go past this point so long as ros node is alive
+    // Uncommnet this line when you're done
+    // ros::spin();
+
+
+    // Return success
+    return 0;
+}
+
+void chatterCallback(const geometry_msgs::Twist& t) {
+    ROS_INFO("Linear: (%f, %f)", t.linear.x, t.linear.z);
+    ROS_INFO("Angular: (%f, %f)\n", t.angular.x, t.angular.z);
+}

src/wb/src/simple_sub.h

@@ -0,0 +1,11 @@
+#ifndef SIMPLE_SUB_H_
+#define SIMPLE_SUB_H_
+
+#include <ros/ros.h>
+#include <geometry_msgs/Twist.h>
+
+// Target function our subscriber will use to
+// process information gathered from topic
+void chatterCallback(const geometry_msgs::Twist&);
+
+#endif  //SIMPLE_SUB_H_