subscriber.py

import rclpy
from rclpy.node import Node
from std_msgs.msg import *
import rclpy
from rclpy.node import Node
import numpy as np
from geometry_msgs.msg import TransformStamped



class MinimalSubscriber(Node):
    quat = np.array([0,0,0,0])
    trans = np.array([0,0,0])
    def __init__(self):
        super().__init__('minimal_subscriber')
        self.subscription = self.create_subscription(
            TransformStamped,
            '/vicon/px4_1/px4_1',
            self.listener_callback,
            10)
        #self.subscription  # prevent unused variable warning

    def listener_callback(self, msg):
        quat = msg.transform.rotation
        trans = msg.transform.translation
        print(quat)
        print(trans)
        #self.get_logger().info('I heard: "%s"' % msg.data)


def main(args=None):
    rclpy.init(args=args)

    minimal_subscriber = MinimalSubscriber()

    rclpy.spin(minimal_subscriber)

    # Destroy the node explicitly
    # (optional - otherwise it will be done automatically
    # when the garbage collector destroys the node object)
    minimal_subscriber.destroy_node()
    rclpy.shutdown()


if __name__ == '__main__':
    main()