text: /*
   * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions are met:
   *   * Redistributions of source code must retain the above copyright notice,
   *     this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above copyright
   *     notice, this list of conditions and the following disclaimer in the
   *     documentation and/or other materials provided with the distribution.
   *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
   *     contributors may be used to endorse or promote products derived from
   *     this software without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
   * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
   * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
   * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
   * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
   * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
   * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   */
  
  #include "ros/ros.h"
  #include "std_msgs/String.h"
  
  /**
   * This tutorial demonstrates simplified syntax for receiving a single message on a topic.  This is generally only useful for latched topics, as the overhead of subscribing to a topic is relatively significant
   */
  
  int main(int argc, char **argv)
  {
    /**
     * The ros::init() function needs to see argc and argv so that it can perform
     * any ROS arguments and name remapping that were provided at the command line. For programmatic
     * remappings you can use a different version of init() which takes remappings
     * directly, but for most command-line programs, passing argc and argv is the easiest
     * way to do it.  The third argument to init() is the name of the node.
     *
     * You must call one of the versions of ros::init() before using any other
     * part of the ROS system.
     */
    ros::init(argc, argv, "listener_single_message");
  
    /**
     * NodeHandle is the main access point to communications with the ROS system.
     * The first NodeHandle constructed will fully initialize this node, and the last
     * NodeHandle destructed will close down the node.
     */
    ros::NodeHandle n;
  
    std_msgs::StringConstPtr msg = ros::topic::waitForMessage<std_msgs::String>("chatter");
  
    ROS_INFO("Received message [%s]", msg->data.c_str());
  
    return 0;
  }
  