Update notebook

Author: nmarticorena

files/RosLibJs.ipynb

@@ -18,7 +18,7 @@
     "- **ROSLIBJS_DISABLE**: Local comunication isolated to this webinstance, this is the default mode of operation.\n",
     "- **ROSLIBJS_ENABLE**: This mode will use the ROSLIBJS library to communicate with a native ROS2 node, this is enabled by setting ROSLIBJS_ENABLE to be \"1\"\n",
     "\n",
-    "For instruction to set up your local ros2 node please read SettingUpNativeNode.ipynb\n"
+    "For instruction to set up your local ros2 node using native ros2 please read SettingUpNativeNode.ipynb or if using robostack please refer to: https://github.com/ros2wasm/roslibjs_demo \n"
    ]
   },
   {
@@ -153,12 +153,34 @@
     "asyncio.create_task(stopper())"
    ]
   },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# Subscribe to native node\n",
+    "\n",
+    "If you have roslibjs enabled and follow the instructions to set up a native node, you can run the following code to subscribe to the native node. This will create a subscriber that will listen to the topic /topic \n",
+    "being published by the minimal publisher ros2 example.\n"
+   ]
+  },
   {
    "cell_type": "code",
    "execution_count": null,
    "metadata": {},
    "outputs": [],
-   "source": []
+   "source": [
+    "running = True\n",
+    "sub_native = MinimalSubscriber('minimal_subscriber_native_node', ['topic'])\n",
+    "print(\"subscribe for 10 seconds to a native ros2 node\")\n",
+    "asyncio.create_task(spin_subscriber(sub_native))\n",
+    "async def stopper():\n",
+    "    global running\n",
+    "    await asyncio.sleep(5)\n",
+    "    print(\"Stopping all tasks\")\n",
+    "    running = False\n",
+    "\n",
+    "asyncio.create_task(stopper())\n"
+   ]
   }
  ],
  "metadata": {