Publisher/subscriber node

[ahaanesen]

I have been trying to make a node that subscribes to one topic and publishes to another, but I have found it difficult as I am relatively new to both Rust and ROS 2. I have been looking at the republished node example (#487) and the minimal pub sub example folder (https://github.com/ros2-rust/examples/blob/main/rclrs/minimal_pub_sub/src/minimal_two_nodes.rs), but I'm still confused.

My main concerns are that I would prefer the project to be independent of example_interfaces, and I would like the information received from the subscription to be processed in a separate thread. (I have managed to publish data processed in another thread.)

If there are some examples I have missed or someone could point me in the right direction, that would be greatly appreciated:)