Add configured examples with domain ID (#30)

* Add configured examples with domain ID

* Allow ROS Domain ID to be configurable from CLI

* Fix indentation

Co-authored-by: Jose Antonio Moral <joseantoniomoralparras@gmail.com>

Author: pablogs9

rclc/configuration_example/configured_publisher/main.c

@@ -26,7 +26,13 @@ void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
 }
 
 int main(int argc, char * const argv[])
-{	
+{
+	if (argc < 3 || argc > 4)
+	{
+		printf("Usage: configured_publisher <IP> <port> <DomainID (default: 0)>\n");
+		return 1;
+	}
+
   	rcl_allocator_t allocator = rcl_get_default_allocator();
 	rclc_support_t support;
 	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
@@ -42,7 +48,11 @@ int main(int argc, char * const argv[])
 
 	// create node
 	rcl_node_t node = rcl_get_zero_initialized_node();
-	RCCHECK(rclc_node_init_default(&node, "int32_configured_publisher_rclc", "", &support));
+	rcl_node_options_t node_ops = rcl_node_get_default_options();
+	node_ops.domain_id = (size_t)(argc == 4 ? atoi(argv[3]) : 0);
+	const char * node_name = "int32_configured_publisher_rclc";
+	printf("Initializing node '%s' with ROS Domain ID %ld...\n",node_name, node_ops.domain_id);
+	RCCHECK(rclc_node_init_with_options(&node, node_name, "", &support, &node_ops));
 
 	// create publisher
 	RCCHECK(rclc_publisher_init_default(
@@ -69,9 +79,11 @@ int main(int argc, char * const argv[])
 	RCCHECK(rclc_executor_add_timer(&executor, &timer));
 
 	msg.data = 0;
-	
+
   	rclc_executor_spin(&executor);
 
 	RCCHECK(rcl_publisher_fini(&publisher, &node));
 	RCCHECK(rcl_node_fini(&node));
+
+	return 0;
 }

rclc/configuration_example/configured_subscriber/main.c

@@ -23,6 +23,12 @@ void subscription_callback(const void * msgin)
 
 int main(int argc, const char * const * argv)
 {
+	if (argc < 3 || argc > 4)
+	{
+		printf("Usage: configured_subscriber <IP> <port> <DomainID (default: 0)>\n");
+		return 1;
+	}
+
   	rcl_allocator_t allocator = rcl_get_default_allocator();
 	rclc_support_t support;
 	rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
@@ -38,7 +44,11 @@ int main(int argc, const char * const * argv)
 
 	// create node
 	rcl_node_t node = rcl_get_zero_initialized_node();
-	RCCHECK(rclc_node_init_default(&node, "int32_configured_subscriber_rclc", "", &support));
+	rcl_node_options_t node_ops = rcl_node_get_default_options();
+	node_ops.domain_id = (size_t)(argc == 4 ? atoi(argv[3]) : 0);
+	const char * node_name = "int32_configured_subscriber_rclc";
+	printf("Initializing node '%s' with ROS Domain ID %ld...\n", node_name, node_ops.domain_id);
+	RCCHECK(rclc_node_init_with_options(&node, node_name, "", &support, &node_ops));
 
 	// create subscriber
 	RCCHECK(rclc_subscription_init_default(
@@ -54,9 +64,11 @@ int main(int argc, const char * const * argv)
 	unsigned int rcl_wait_timeout = 1000;   // in ms
 	RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
 	RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &msg, &subscription_callback, ON_NEW_DATA));
-	
+
   	rclc_executor_spin(&executor);
 
 	RCCHECK(rcl_subscription_fini(&subscriber, &node));
 	RCCHECK(rcl_node_fini(&node));
+
+	return 0;
 }