Refs #3637 - Translate demo to rclcpp. Traslate int32 pub/sub demos (works ok).

Author: Javier Moreno

Cpp/RAD0_control/README.md

@@ -13,6 +13,7 @@
 // limitations under the License.
 
 #include <chrono>
+#include <cstdio>
 #include "rclcpp/rclcpp.hpp"
 #include "std_msgs/msg/int32.hpp"
 using namespace std::chrono_literals;
@@ -32,6 +33,7 @@ class int32_publisher_node : public rclcpp::Node
   {
     count_.data++;
     publisher_->publish(count_);
+    std::cout << count_.data << std::endl;
   }
 
   rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr publisher_;

Cpp/int32_publisher/main.cpp

@@ -3,7 +3,7 @@
 <package format="2">
   <name>int32_publisher_cpp</name>
   <version>0.0.1</version>
-  <description>Real apliacion demostration.</description>
+  <description>Example of a publisher using int32</description>
   <maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
   <license>Apache License 2.0</license>
   <author>Javier Moreno</author>

Cpp/int32_publisher/package.xml

@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.5)
+set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
+project(int32_subscriber_cpp)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp QUIET)
+find_package(std_msgs REQUIRED)
+
+set(THREADS_PREFER_PTHREAD_FLAG TRUE)
+find_package (Threads REQUIRED)
+
+
+# Do not compile package if rclcpp is not found
+if (NOT rclcpp_FOUND)
+  message(WARNING "${PROJECT_NAME} will be ignored due to rclcpp is not installed")
+  ament_package()
+  return()
+endif()
+
+
+add_executable(${PROJECT_NAME} main.cpp)
+ament_target_dependencies(${PROJECT_NAME} rclcpp std_msgs)
+
+target_link_libraries(${PROJECT_NAME} Threads::Threads)
+
+install(TARGETS
+  ${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

Cpp/int32_subscriber/CMakeLists.txt

@@ -0,0 +1,45 @@
+// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <cstdio>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/int32.hpp"
+using std::placeholders::_1;
+
+class int32_subscriber_node : public rclcpp::Node
+{
+public:
+  int32_subscriber_node() : Node("int32_subscriber_cpp")
+  { 
+    subscription_ = this->create_subscription<std_msgs::msg::Int32>("std_msgs_msg_Int32", 
+      std::bind(&int32_subscriber_node::topic_callback, this, _1));
+  }
+
+private:
+  rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr subscription_;
+
+  void topic_callback(const std_msgs::msg::Int32::SharedPtr msg)
+  {
+    std::cout << "I heard: " << msg->data << std::endl;
+  }
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<int32_subscriber_node>());
+  rclcpp::shutdown();
+  return 0;
+}

Cpp/int32_subscriber/main.cpp

@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>int32_subscriber_cpp</name>
+  <version>0.0.1</version>
+  <description>Example of a subscriber using int32</description>
+  <maintainer email="javiermoreno@eprosima.com">Javier Moreno</maintainer>
+  <license>Apache License 2.0</license>
+  <author>Javier Moreno</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>rclcpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+