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Javier Moreno
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Added complex examples and RAD0 ros2 node
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Lines changed: 213 additions & 59 deletions

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‎RAD0_control/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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project(rad0_control)
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp QUIET)
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find_package(std_msgs REQUIRED)
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# Do not compile package if rclcpp is not found
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if (NOT rclcpp_FOUND)
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message(WARNING "${PROJECT_NAME} will be ignored due to rclcpp is not installed")
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return()
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endif()
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add_executable(${PROJECT_NAME} main.cpp)
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ament_target_dependencies(${PROJECT_NAME} rclcpp std_msgs)
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install(TARGETS
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${PROJECT_NAME}
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()

‎RAD0_control/README.md‎

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# Minimal publisher examples
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This package contains a few different strategies for creating short nodes which blast out messages.
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The `talker_timer_lambda` and `talker_timer_member_function` recipes create subclasses of `rclcpp::Node` and set up an `rclcpp::timer` to periodically call functions which publish messages.
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The `talker_without_subclass` recipe instead instantiates a `rclcpp::Node` object *without* subclassing it, which works, but is not compatible with composition, and thus is no longer the recommended style for ROS 2 coding.

‎RAD0_control/main.cpp‎

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// Copyright 2016 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "rclcpp/rclcpp.hpp"
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#include "std_msgs/msg/float64.hpp"
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#include "std_msgs/msg/int32.hpp"
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#include "std_msgs/msg/string.hpp"
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using std::placeholders::_1;
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class ExternalNode : public rclcpp::Node
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{
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public:
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ExternalNode() : Node("control")
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{
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engine_power_publisher_ = this->create_publisher<std_msgs::msg::Int32>("std_msgs_msg_Int32");
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warn_publisher_ = this->create_publisher<std_msgs::msg::String>("std_msgs_msg_String");
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altitude_subscription_ = this->create_subscription<std_msgs::msg::Float64>("std_msgs_msg_Float64", std::bind(&ExternalNode::topic_callback, this, _1));
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}
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private:
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rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr engine_power_publisher_;
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rclcpp::Publisher<std_msgs::msg::String>::SharedPtr warn_publisher_;
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rclcpp::Subscription<std_msgs::msg::Float64>::SharedPtr altitude_subscription_;
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void topic_callback(const std_msgs::msg::Float64::SharedPtr msg)
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{
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// Warning
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if (msg->data <= 500)
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{
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{
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auto message = std_msgs::msg::String();
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message.data = "Failure!!";
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RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str())
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this->warn_publisher_->publish(message);
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}
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{
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auto message = std_msgs::msg::Int32();
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message.data = 10;
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this->engine_power_publisher_->publish(message);
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}
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}
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// Failure
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else if (msg->data <= 1000)
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{
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{
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auto message = std_msgs::msg::String();
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message.data = "Warning!!";
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RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str())
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this->warn_publisher_->publish(message);
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}
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{
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auto message = std_msgs::msg::Int32();
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message.data = 5;
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this->engine_power_publisher_->publish(message);
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}
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}
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}
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};
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int main(int argc, char * argv[])
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{
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rclcpp::init(argc, argv);
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rclcpp::spin(std::make_shared<ExternalNode>());
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rclcpp::shutdown();
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return 0;
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}

‎RAD0_control/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="2">
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<name>rad0_control</name>
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<version>0.0.1</version>
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<description>Real apliacion demostration.</description>
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<maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
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<license>Apache License 2.0</license>
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<author>Javier Moreno</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>rclcpp</build_depend>
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<build_depend>std_msgs</build_depend>
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<exec_depend>rclcpp</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>
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test_custom_msg/CMakeLists.txt renamed to complex_msg/CMakeLists.txt

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cmake_minimum_required(VERSION 3.5)
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project(example_custom_msgs)
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project(complex_msgs)
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)

test_custom_msg/msg/MultiStringTest.msg renamed to complex_msg/msg/MultiStringTest.msg

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test_custom_msg/msg/NestedMsgTest.msg renamed to complex_msg/msg/NestedMsgTest.msg

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test_custom_msg/package.xml renamed to complex_msg/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>example_custom_msgs</name>
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<name>complex_msgs</name>
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<version>1.0.0</version>
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<description>Custom generated msg.</description>
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<description>Example of a complex msg.</description>
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<maintainer email="javiermoreno@eproxima.com">Javier Moreno</maintainer>
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<license>Apache License 2.0</license>
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‎complex_msg_publisher/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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set(CMAKE_CXX_CLANG_TIDY clang-tidy -checks=*)
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project(complex_msg_publisher)
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find_package(ament_cmake REQUIRED)
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find_package(rclc QUIET)
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find_package(complex_msgs REQUIRED)
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# Do not compile package if rclcpp is not found
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if (NOT rclc_FOUND)
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message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
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return()
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endif()
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add_executable(${PROJECT_NAME} main.c)
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ament_target_dependencies(${PROJECT_NAME} rclc complex_msgs)
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install(TARGETS
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${PROJECT_NAME}
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DESTINATION lib/${PROJECT_NAME}
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)
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target_link_libraries(${PROJECT_NAME} micrortps_client microcdr)
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ament_package()

example_publisher/main.c renamed to complex_msg_publisher/main.c

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#include <rclc/rclc.h>
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#include <example_custom_msgs/msg/nested_msg_test.h>
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#include <complex_msgs/msg/nested_msg_test.h>
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#include <stdio.h>
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rclc_init(0, NULL);
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rclc_node_t* node = rclc_create_node("publisher_node", "");
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rclc_publisher_t* publisher =
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rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(example_custom_msgs, msg, NestedMsgTest), "example_custom_msgs_msg_NestedMsgTest", 1);
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rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(complex_msgs, msg, NestedMsgTest), "complex_msgs_msg_NestedMsgTest", 1);
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example_custom_msgs__msg__NestedMsgTest msg;
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complex_msgs__msg__NestedMsgTest msg;
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char Buff1[30];
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msg.data14.data1.data = Buff1;
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msg.data14.data1.size = 0;

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