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BorjaOutereloBorjaOuterelo
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Refs #3333. First commit of the basic examples using strings and int32
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‎example_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(example_publisher)
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find_package(ament_cmake REQUIRED)
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find_package(rclc REQUIRED)
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find_package(std_msgs REQUIRED)
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add_executable(example_publisher main.c)
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ament_target_dependencies(example_publisher rclc std_msgs)
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install(TARGETS
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example_publisher
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()

‎example_publisher/main.c‎

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#include <rclc/rclc.h>
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#include <std_msgs/msg/string.h>
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#include <stdio.h>
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int main(int argc, char* argv[])
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{
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(void)argc;
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(void)argv;
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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(std_msgs, msg, String), "publisher_example", 1);
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std_msgs__msg__String msg;
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char buff[128] = {0};
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msg.data.data = buff;
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msg.data.capacity = sizeof(buff);
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msg.data.size = 0;
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int num = 0;
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while (rclc_ok())
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{
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msg.data.size = snprintf(msg.data.data, msg.data.capacity, "Hello World %i", num++);
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if (msg.data.size > msg.data.capacity)
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msg.data.size = 0;
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printf("Sending: '%s'\n", msg.data.data);
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rclc_publish(publisher, (const void*)&msg);
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rclc_spin_node_once(node, 500);
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}
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rclc_destroy_publisher(publisher);
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rclc_destroy_node(node);
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return 0;
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}

‎example_publisher/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_publisher</name>
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<version>0.0.1</version>
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<description>Example of a publisher</description>
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<maintainer email="borjaouterelo@eprosima.com">borjaouterelo</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>rclc</build_depend>
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<build_depend>std_msgs</build_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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‎example_publisher_int32/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(example_publisher_int32)
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find_package(ament_cmake REQUIRED)
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find_package(rclc REQUIRED)
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find_package(std_msgs REQUIRED)
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add_executable(example_publisher_int32 main.c)
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ament_target_dependencies(example_publisher_int32 rclc std_msgs)
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install(TARGETS
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example_publisher_int32
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()

‎example_publisher_int32/main.c‎

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#include <rclc/rclc.h>
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#include <std_msgs/msg/int32.h>
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#include <stdio.h>
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int main(int argc, char *argv[])
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{
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(void)argc;
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(void)argv;
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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 = rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "publisher_example", 1);
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std_msgs__msg__Int32 msg;
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msg.data = -1;
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while (rclc_ok())
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{
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printf("Sending: '%i'\n", msg.data++);
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rclc_publish(publisher, (const void*)&msg);
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rclc_spin_node_once(node, 500);
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}
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rclc_destroy_publisher(publisher);
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rclc_destroy_node(node);
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return 0;
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}

‎example_publisher_int32/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_publisher_int32</name>
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<version>0.0.1</version>
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<description>Example of a publisher using int32</description>
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<maintainer email="borjaouterelo@eprosima.com">borjaouterelo</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>rclc</build_depend>
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<build_depend>std_msgs</build_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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‎example_subscriber/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(example_subscriber)
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find_package(ament_cmake REQUIRED)
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find_package(rclc REQUIRED)
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find_package(std_msgs REQUIRED)
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add_executable(example_subscriber main.c)
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ament_target_dependencies(example_subscriber rclc std_msgs)
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install(TARGETS
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example_subscriber
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()

‎example_subscriber/main.c‎

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#include <rclc/rclc.h>
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#include <std_msgs/msg/string.h>
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#include <stdio.h>
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void on_message(const void* msgin)
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{
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const std_msgs__msg__String* msg = (const std_msgs__msg__String*)msgin;
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printf("I heard: [%s]\n", msg->data.data);
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}
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int main(int argc, char* argv[])
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{
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(void)argc;
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(void)argv;
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rclc_init(0, NULL);
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rclc_node_t* node = rclc_create_node("subscription_node", "");
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rclc_subscription_t* sub = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String),
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"subscription_example", on_message, 1, false);
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rclc_spin_node(node);
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rclc_destroy_subscription(sub);
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rclc_destroy_node(node);
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return 0;
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}

‎example_subscriber/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_subscriber</name>
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<version>0.0.1</version>
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<description>Example of a subscriber</description>
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<maintainer email="borjaouterelo@eprosima.com">borjaouterelo</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>rclc</build_depend>
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<build_depend>std_msgs</build_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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‎example_subscriber_int32/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(example_subscriber_int32)
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find_package(ament_cmake REQUIRED)
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find_package(rclc REQUIRED)
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find_package(std_msgs REQUIRED)
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add_executable(example_subscriber_int32 main.c)
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ament_target_dependencies(example_subscriber_int32 rclc std_msgs)
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install(TARGETS
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example_subscriber_int32
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()

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