rudimentary subscription working

Author: brychanrobot

example/main.go

@@ -1,16 +1,34 @@
 package main
 
 import (
+	"encoding/json"
 	"log"
 
 	"github.com/brychanrobot/goros"
 )
 
+type Uav struct {
+	Tracks []Track `json:"tracks"`
+}
+
+type Track struct {
+	MeanX       float64 `json:"meanx"`
+	MeanY       float64 `json:"meany"`
+	Label       int     `json:"label"`
+	InlierRatio float64 `json:"inliers"`
+}
+
 func main() {
 	ros := goros.NewRos("ws://192.168.27.20:9090")
 
 	topics := ros.GetTopics()
 	log.Println(topics)
 
+	ros.Subscribe("/visual_mtt/rransac_tracks", func(msg *json.RawMessage) {
+		var uav Uav
+		json.Unmarshal(*msg, &uav)
+		log.Println(uav)
+	})
+
 	select {} //keeps the application open
 }