Merge pull request #6 from Fool-Stuck/feat/subscription_utils

feat: add no callback subscription wrapper class

src/wheel_stuck_utils/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.5)
+project(wheel_stuck_utils)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+# ament_auto_add_library(autoware_universe_utils SHARED
+#   src/source.cpp
+# )
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package()

src/wheel_stuck_utils/include/wheel_stuck_utils/ros/no_callback_subscription.hpp

@@ -0,0 +1,48 @@
+#ifndef WHEEL_STUCK_UTILS__ROS__NO_CALLBACK_SUBSCRIPTION_HPP_
+#define WHEEL_STUCK_UTILS__ROS__NO_CALLBACK_SUBSCRIPTION_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+namespace wheel_stuck_utils
+{
+
+template <typename TMessage>
+class NoCallbackSubscription
+{
+private:
+  typename rclcpp::Subscription<TMessage>::SharedPtr subscription_;
+
+public:
+  using SharedPtr = std::shared_ptr<NoCallbackSubscription<TMessage>>;
+  static SharedPtr create_subscription(
+    rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1})
+  {
+    return std::make_shared<NoCallbackSubscription<TMessage>>(node, topic_name, qos);
+  }
+
+  explicit NoCallbackSubscription(
+    rclcpp::Node * node, const std::string & topic_name, const rclcpp::QoS & qos = rclcpp::QoS{1})
+  {
+    auto noexec_callback_group =
+      node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
+    auto noexec_subscription_options = rclcpp::SubscriptionOptions();
+    noexec_subscription_options.callback_group = noexec_callback_group;
+
+    subscription_ = node->create_subscription<TMessage>(
+      topic_name, qos,
+      [node]([[maybe_unused]] const typename TMessage::ConstSharedPtr msg) { assert(false); },
+      noexec_subscription_options);
+  }
+
+  typename TMessage::ConstSharedPtr getData()
+  {
+    auto data = std::make_shared<TMessage>();
+    rclcpp::MessageInfo message_info;
+    const bool is_received = subscription_->take(*data, message_info);
+    return is_received ? data : nullptr;
+  }
+};
+
+}  // namespace wheel_stuck_utils
+
+#endif

src/wheel_stuck_utils/package.xml

@@ -0,0 +1,20 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>wheel_stuck_utils</name>
+  <version>0.1.0</version>
+  <description>The wheel_stuck_utils package</description>
+  <maintainer email="[email protected]">Akiro Harada</maintainer>
+
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>