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Javier Moreno
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Refs #3637 - Translate demo to rclcpp. Traslate string and complex_msg pub/sub demos.
1 parent 58d5667 commit 641aa2b

15 files changed

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‎Cpp/RAD0_control/CMakeLists.txt‎

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@@ -15,6 +15,8 @@ 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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set(THREADS_PREFER_PTHREAD_FLAG TRUE)
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find_package (Threads REQUIRED)
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# Do not compile package if rclcpp is not found
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if (NOT rclcpp_FOUND)
@@ -27,6 +29,8 @@ 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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target_link_libraries(${PROJECT_NAME} Threads::Threads)
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install(TARGETS
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${PROJECT_NAME}
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DESTINATION lib/${PROJECT_NAME}

‎Cpp/RAD0_control/COLCON_IGNORE‎

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‎Cpp/complex_msg_publisher/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
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project(complex_msg_publisher_cpp)
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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(complex_msgs REQUIRED)
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set(THREADS_PREFER_PTHREAD_FLAG TRUE)
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find_package (Threads 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 "${PROJECT_NAME} will be ignored due to rclcpp is not installed")
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ament_package()
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return()
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endif()
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add_executable(${PROJECT_NAME} main.cpp)
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ament_target_dependencies(${PROJECT_NAME} rclcpp complex_msgs)
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target_link_libraries(${PROJECT_NAME} Threads::Threads)
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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()

‎Cpp/complex_msg_publisher/main.cpp‎

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// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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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 <chrono>
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#include <cstdio>
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#include <complex_msgs/msg/nested_msg_test.hpp>
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#include "rclcpp/rclcpp.hpp"
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using namespace std::chrono_literals;
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class complex_msg_publisher_cpp_node : public rclcpp::Node
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{
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public:
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complex_msg_publisher_cpp_node() : Node("complex_msg_publisher_cpp")
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{
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publisher_ = this->create_publisher<complex_msgs::msg::NestedMsgTest>("complex_msgs_msg_NestedMsgTest");
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timer_ = this->create_wall_timer(
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500ms, std::bind(&complex_msg_publisher_cpp_node::timer_callback, this));
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}
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private:
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void timer_callback()
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{
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msg.data1 = (bool)(num & 0x01);
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msg.data2 = (uint8_t)num;
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msg.data3 = (signed char)num;
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msg.data4 = (float)num;
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msg.data5 = (double)num;
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msg.data6 = (int8_t)num;
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msg.data7 = (uint8_t)num;
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msg.data8 = (int16_t)num;
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msg.data9 = (uint16_t)num;
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msg.data10 = (int32_t)num;
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msg.data11 = (uint32_t)num;
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msg.data12 = (int64_t)num;
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msg.data13 = (uint64_t)num;
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msg.data14.data1 = "Msg A - " + std::to_string(num);
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msg.data14.data2 = "Msg B - " + std::to_string(num);
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msg.data14.data3 = "Msg C - " + std::to_string(num);
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msg.data14.data4 = "Msg D - " + std::to_string(num);
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num++;
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publisher_->publish(msg);
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std::cout << "I send:" << std::endl;
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std::cout << "\tBool: " << std::to_string(msg.data1) << std::endl;
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std::cout << "\tuint8_t: " << std::to_string(msg.data2) << std::endl;
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std::cout << "\tsigned char: " << std::to_string(msg.data3) << std::endl;
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std::cout << "\tfloat: " << std::to_string(msg.data4) << std::endl;
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std::cout << "\tdouble: " << std::to_string(msg.data5) << std::endl;
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std::cout << "\tint8_t: " << std::to_string(msg.data6) << std::endl;
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std::cout << "\tuint8_t: " << std::to_string(msg.data7) << std::endl;
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std::cout << "\tint16_t: " << std::to_string(msg.data8) << std::endl;
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std::cout << "\tuint16_t: " << std::to_string(msg.data9) << std::endl;
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std::cout << "\tint32_t: " << std::to_string(msg.data10) << std::endl;
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std::cout << "\tuint32_t: " << std::to_string(msg.data11) << std::endl;
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std::cout << "\tint64_t: " << std::to_string(msg.data12) << std::endl;
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std::cout << "\tuint64_t: " << std::to_string(msg.data13) << std::endl;
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std::cout << "\tstring 1: " << msg.data14.data1 << std::endl;
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std::cout << "\tstring 2: " << msg.data14.data2 << std::endl;
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std::cout << "\tstring 3: " << msg.data14.data3 << std::endl;
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std::cout << "\tstring 4: " << msg.data14.data4 << std::endl;
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std::cout << "\n" << std::endl;
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}
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rclcpp::Publisher<complex_msgs::msg::NestedMsgTest>::SharedPtr publisher_;
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rclcpp::TimerBase::SharedPtr timer_;
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complex_msgs::msg::NestedMsgTest msg;
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size_t num = 0;
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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<complex_msg_publisher_cpp_node>());
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rclcpp::shutdown();
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return 0;
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}

‎Cpp/complex_msg_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>complex_msg_publisher_cpp</name>
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<version>0.0.1</version>
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<description>Example of a complex msg publisher</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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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>rclcpp</build_depend>
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<build_depend>complex_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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‎Cpp/complex_msg_subscriber/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
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project(complex_msg_subscriber_cpp)
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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(complex_msgs REQUIRED)
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set(THREADS_PREFER_PTHREAD_FLAG TRUE)
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find_package (Threads 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 "${PROJECT_NAME} will be ignored due to rclcpp is not installed")
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ament_package()
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return()
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endif()
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add_executable(${PROJECT_NAME} main.cpp)
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ament_target_dependencies(${PROJECT_NAME} rclcpp complex_msgs)
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target_link_libraries(${PROJECT_NAME} Threads::Threads)
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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()

‎Cpp/complex_msg_subscriber/main.cpp‎

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// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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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 <cstdio>
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#include <complex_msgs/msg/nested_msg_test.hpp>
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#include "rclcpp/rclcpp.hpp"
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using std::placeholders::_1;
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class complex_msg_subscriber_cpp_node : public rclcpp::Node
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{
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public:
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complex_msg_subscriber_cpp_node() : Node("complex_msg_subscriber_cpp")
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{
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subscription_ = this->create_subscription<complex_msgs::msg::NestedMsgTest>("complex_msgs_msg_NestedMsgTest",
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std::bind(&complex_msg_subscriber_cpp_node::topic_callback, this, _1));
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}
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private:
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rclcpp::Subscription<complex_msgs::msg::NestedMsgTest>::SharedPtr subscription_;
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void topic_callback(const complex_msgs::msg::NestedMsgTest::SharedPtr msg)
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{
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std::cout << "I heard: " << std::endl;
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std::cout << "\tBool: " << std::to_string(msg->data1) << std::endl;
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std::cout << "\tuint8_t: " << std::to_string(msg->data2) << std::endl;
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std::cout << "\tsigned char: " << std::to_string(msg->data3) << std::endl;
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std::cout << "\tfloat: " << std::to_string(msg->data4) << std::endl;
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std::cout << "\tdouble: " << std::to_string(msg->data5) << std::endl;
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std::cout << "\tint8_t: " << std::to_string(msg->data6) << std::endl;
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std::cout << "\tuint8_t: " << std::to_string(msg->data7) << std::endl;
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std::cout << "\tint16_t: " << std::to_string(msg->data8) << std::endl;
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std::cout << "\tuint16_t: " << std::to_string(msg->data9) << std::endl;
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std::cout << "\tint32_t: " << std::to_string(msg->data10) << std::endl;
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std::cout << "\tuint32_t: " << std::to_string(msg->data11) << std::endl;
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std::cout << "\tint64_t: " << std::to_string(msg->data12) << std::endl;
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std::cout << "\tuint64_t: " << std::to_string(msg->data13) << std::endl;
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std::cout << "\tstring 1: " << msg->data14.data1 << std::endl;
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std::cout << "\tstring 2: " << msg->data14.data2 << std::endl;
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std::cout << "\tstring 3: " << msg->data14.data3 << std::endl;
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std::cout << "\tstring 4: " << msg->data14.data4 << std::endl;
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std::cout << "\n" << std::endl;
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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<complex_msg_subscriber_cpp_node>());
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rclcpp::shutdown();
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return 0;
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}

‎Cpp/complex_msg_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>complex_msg_subscriber_cpp</name>
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<version>0.0.1</version>
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<description>Example of a complex smg subcriber</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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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>rclcpp</build_depend>
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<build_depend>complex_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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‎Cpp/int32_publisher/README.md‎

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‎Cpp/string_publisher/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.5)
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set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
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project(string_publisher_cpp)
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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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set(THREADS_PREFER_PTHREAD_FLAG TRUE)
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find_package (Threads 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 "${PROJECT_NAME} will be ignored due to rclcpp is not installed")
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ament_package()
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return()
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endif()
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add_executable(${PROJECT_NAME} main.cpp)
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ament_target_dependencies(${PROJECT_NAME} rclcpp std_msgs)
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target_link_libraries(${PROJECT_NAME} Threads::Threads)
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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()

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