Refactor intra-process demo into components.

intra_process_demo/CMakeLists.txt

@@ -13,6 +13,7 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
 find_package(rmw REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
@@ -27,13 +28,27 @@ ament_export_include_directories(include)
 ##
 
 # Simple example of using unique_ptr to minimize copies.
+
+add_library(two_node_pipeline_components SHARED
+  src/two_node_pipeline/producer_component.cpp
+  src/two_node_pipeline/consumer_component.cpp
+)
+target_compile_definitions(two_node_pipeline_components
+  PRIVATE "INTRA_PROCESS_DEMO_BUILDING_DLL")
+ament_target_dependencies(two_node_pipeline_components
+  "rclcpp" "rclcpp_components" "rcutils" "std_msgs")
+
+rclcpp_components_register_nodes(two_node_pipeline_components
+  "intra_process_demo::two_node_pipeline::Producer"
+  "intra_process_demo::two_node_pipeline::Consumer")
+
 add_executable(two_node_pipeline
   src/two_node_pipeline/two_node_pipeline.cpp)
-ament_target_dependencies(two_node_pipeline
-  "rclcpp"
-  "std_msgs")
+target_link_libraries(two_node_pipeline
+  two_node_pipeline_components)
 
-  # Simple example of a cyclic pipeline which uses no allocation while iterating.
+
+# Simple example of a cyclic pipeline which uses no allocation while iterating.
 add_executable(cyclic_pipeline
   src/cyclic_pipeline/cyclic_pipeline.cpp)
 ament_target_dependencies(cyclic_pipeline
@@ -80,6 +95,11 @@ ament_target_dependencies(image_view_node
   "sensor_msgs"
   "OpenCV")
 
+install(TARGETS
+  two_node_pipeline_components
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib)
+
 install(TARGETS
   two_node_pipeline
   cyclic_pipeline
@@ -95,6 +115,11 @@ install(
   DESTINATION include
 )
 
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

intra_process_demo/include/image_pipeline/camera_node.hpp → intra_process_demo/include/intra_process_demo/image_pipeline/camera_node.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IMAGE_PIPELINE__CAMERA_NODE_HPP_
-#define IMAGE_PIPELINE__CAMERA_NODE_HPP_
+#ifndef INTRA_PROCESS_DEMO__IMAGE_PIPELINE__CAMERA_NODE_HPP_
+#define INTRA_PROCESS_DEMO__IMAGE_PIPELINE__CAMERA_NODE_HPP_
 
 #include <chrono>
 #include <sstream>
@@ -110,4 +110,4 @@ class CameraNode : public rclcpp::Node
   cv::Mat frame_;
 };
 
-#endif  // IMAGE_PIPELINE__CAMERA_NODE_HPP_
+#endif  // INTRA_PROCESS_DEMO__IMAGE_PIPELINE__CAMERA_NODE_HPP_

intra_process_demo/include/image_pipeline/common.hpp → intra_process_demo/include/intra_process_demo/image_pipeline/common.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IMAGE_PIPELINE__COMMON_HPP_
-#define IMAGE_PIPELINE__COMMON_HPP_
+#ifndef INTRA_PROCESS_DEMO__IMAGE_PIPELINE__COMMON_HPP_
+#define INTRA_PROCESS_DEMO__IMAGE_PIPELINE__COMMON_HPP_
 
 #ifdef _WIN32
 #include <process.h>
@@ -85,4 +85,4 @@ draw_on_image(cv::Mat & image, const std::string & text, int height)
     cv::Scalar(0, 255, 0));
 }
 
-#endif  // IMAGE_PIPELINE__COMMON_HPP_
+#endif  // INTRA_PROCESS_DEMO__IMAGE_PIPELINE__COMMON_HPP_

intra_process_demo/include/image_pipeline/image_view_node.hpp → intra_process_demo/include/intra_process_demo/image_pipeline/image_view_node.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IMAGE_PIPELINE__IMAGE_VIEW_NODE_HPP_
-#define IMAGE_PIPELINE__IMAGE_VIEW_NODE_HPP_
+#ifndef INTRA_PROCESS_DEMO__IMAGE_PIPELINE__IMAGE_VIEW_NODE_HPP_
+#define INTRA_PROCESS_DEMO__IMAGE_PIPELINE__IMAGE_VIEW_NODE_HPP_
 
 #include <sstream>
 #include <string>
@@ -78,4 +78,4 @@ class ImageViewNode : public rclcpp::Node
   cv::Mat frame_;
 };
 
-#endif  // IMAGE_PIPELINE__IMAGE_VIEW_NODE_HPP_
+#endif  // INTRA_PROCESS_DEMO__IMAGE_PIPELINE__IMAGE_VIEW_NODE_HPP_

intra_process_demo/include/image_pipeline/watermark_node.hpp → intra_process_demo/include/intra_process_demo/image_pipeline/watermark_node.hpp

@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef IMAGE_PIPELINE__WATERMARK_NODE_HPP_
-#define IMAGE_PIPELINE__WATERMARK_NODE_HPP_
+#ifndef INTRA_PROCESS_DEMO__IMAGE_PIPELINE__WATERMARK_NODE_HPP_
+#define INTRA_PROCESS_DEMO__IMAGE_PIPELINE__WATERMARK_NODE_HPP_
 
 #include <memory>
 #include <sstream>
@@ -69,4 +69,4 @@ class WatermarkNode : public rclcpp::Node
   cv::Mat frame_;
 };
 
-#endif  // IMAGE_PIPELINE__WATERMARK_NODE_HPP_
+#endif  // INTRA_PROCESS_DEMO__IMAGE_PIPELINE__WATERMARK_NODE_HPP_

intra_process_demo/include/intra_process_demo/two_node_pipeline/consumer_component.hpp

@@ -0,0 +1,46 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef INTRA_PROCESS_DEMO__TWO_NODE_PIPELINE__CONSUMER_COMPONENT_HPP_
+#define INTRA_PROCESS_DEMO__TWO_NODE_PIPELINE__CONSUMER_COMPONENT_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/int32.hpp"
+
+#include "intra_process_demo/visibility_control.h"
+
+namespace intra_process_demo
+{
+namespace two_node_pipeline
+{
+
+class Consumer : public rclcpp::Node
+{
+public:
+  INTRA_PROCESS_DEMO_PUBLIC
+  explicit Consumer(const rclcpp::NodeOptions & options);
+
+  explicit Consumer(
+    const std::string & name,
+    const std::string & input,
+    const rclcpp::NodeOptions & options);
+
+private:
+  rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr sub_;
+};
+
+}  // namespace two_node_pipeline
+}  // namespace intra_process_demo
+
+#endif  // INTRA_PROCESS_DEMO__TWO_NODE_PIPELINE__CONSUMER_COMPONENT_HPP_

intra_process_demo/include/intra_process_demo/two_node_pipeline/producer_component.hpp

@@ -0,0 +1,47 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// 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.
+
+#ifndef INTRA_PROCESS_DEMO__TWO_NODE_PIPELINE__PRODUCER_COMPONENT_HPP_
+#define INTRA_PROCESS_DEMO__TWO_NODE_PIPELINE__PRODUCER_COMPONENT_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/int32.hpp"
+
+#include "intra_process_demo/visibility_control.h"
+
+namespace intra_process_demo
+{
+namespace two_node_pipeline
+{
+
+class Producer : public rclcpp::Node
+{
+public:
+  INTRA_PROCESS_DEMO_PUBLIC
+  explicit Producer(const rclcpp::NodeOptions & options);
+
+  explicit Producer(
+    const std::string & name,
+    const std::string & output,
+    const rclcpp::NodeOptions & options);
+
+private:
+  rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr pub_;
+  rclcpp::TimerBase::SharedPtr timer_;
+};
+
+}  // namespace two_node_pipeline
+}  // namespace intra_process_demo
+
+#endif  // INTRA_PROCESS_DEMO__TWO_NODE_PIPELINE__PRODUCER_COMPONENT_HPP_

intra_process_demo/include/intra_process_demo/visibility_control.h

@@ -0,0 +1,35 @@
+#ifndef INTRA_PROCESS_DEMO__VISIBILITY_CONTROL_H_
+#define INTRA_PROCESS_DEMO__VISIBILITY_CONTROL_H_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define INTRA_PROCESS_DEMO_EXPORT __attribute__ ((dllexport))
+    #define INTRA_PROCESS_DEMO_IMPORT __attribute__ ((dllimport))
+  #else
+    #define INTRA_PROCESS_DEMO_EXPORT __declspec(dllexport)
+    #define INTRA_PROCESS_DEMO_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef INTRA_PROCESS_DEMO_BUILDING_LIBRARY
+    #define INTRA_PROCESS_DEMO_PUBLIC INTRA_PROCESS_DEMO_EXPORT
+  #else
+    #define INTRA_PROCESS_DEMO_PUBLIC INTRA_PROCESS_DEMO_IMPORT
+  #endif
+  #define INTRA_PROCESS_DEMO_PUBLIC_TYPE INTRA_PROCESS_DEMO_PUBLIC
+  #define INTRA_PROCESS_DEMO_LOCAL
+#else
+  #define INTRA_PROCESS_DEMO_EXPORT __attribute__ ((visibility("default")))
+  #define INTRA_PROCESS_DEMO_IMPORT
+  #if __GNUC__ >= 4
+    #define INTRA_PROCESS_DEMO_PUBLIC __attribute__ ((visibility("default")))
+    #define INTRA_PROCESS_DEMO_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define INTRA_PROCESS_DEMO_PUBLIC
+    #define INTRA_PROCESS_DEMO_LOCAL
+  #endif
+  #define INTRA_PROCESS_DEMO_PUBLIC_TYPE
+#endif
+
+#endif  // INTRA_PROCESS_DEMO__VISIBILITY_CONTROL_H_

intra_process_demo/launch/two_node_pipeline_launch.py

@@ -0,0 +1,45 @@
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+"""Launch a producer and a consumer in a component container, enabling intraprocess comms."""
+
+from launch import LaunchDescription
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        ComposableNodeContainer(
+            node_namespace='/my_ns',
+            node_name='my_container',
+            package='rclcpp_components',
+            node_executable='component_container',
+            composable_node_descriptions=[
+                ComposableNode(
+                    package='intra_process_demo',
+                    node_namespace='/my_ns', node_name='my_producer',
+                    node_plugin='intra_process_demo::two_node_pipeline::Producer',
+                    extra_arguments=[{'use_intra_process_comms': True}],
+                ),
+                ComposableNode(
+                    package='intra_process_demo',
+                    node_namespace='/my_ns', node_name='my_consumer',
+                    node_plugin='intra_process_demo::two_node_pipeline::Consumer',
+                    extra_arguments=[{'use_intra_process_comms': True}],
+                )
+            ],
+            output='screen',
+        )
+    ])

intra_process_demo/package.xml

@@ -11,17 +11,20 @@
 
   <build_depend>libopencv-dev</build_depend>
   <build_depend>rclcpp</build_depend>
+  <build_depend>rclcpp_components</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
 
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
   <exec_depend>libopencv-dev</exec_depend>
   <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rclcpp_components</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
-  <test_depend>launch</test_depend>
   <test_depend>launch_testing</test_depend>
   <test_depend>launch_testing_ament_cmake</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>

intra_process_demo/src/image_pipeline/camera_node.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "image_pipeline/camera_node.hpp"
+#include "intra_process_demo/image_pipeline/camera_node.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 

intra_process_demo/src/image_pipeline/image_pipeline_all_in_one.cpp

@@ -16,9 +16,9 @@
 
 #include <memory>
 
-#include "image_pipeline/camera_node.hpp"
-#include "image_pipeline/image_view_node.hpp"
-#include "image_pipeline/watermark_node.hpp"
+#include "intra_process_demo/image_pipeline/camera_node.hpp"
+#include "intra_process_demo/image_pipeline/image_view_node.hpp"
+#include "intra_process_demo/image_pipeline/watermark_node.hpp"
 
 int main(int argc, char * argv[])
 {

intra_process_demo/src/image_pipeline/image_pipeline_with_two_image_view.cpp

@@ -16,9 +16,9 @@
 
 #include <memory>
 
-#include "image_pipeline/camera_node.hpp"
-#include "image_pipeline/image_view_node.hpp"
-#include "image_pipeline/watermark_node.hpp"
+#include "intra_process_demo/image_pipeline/camera_node.hpp"
+#include "intra_process_demo/image_pipeline/image_view_node.hpp"
+#include "intra_process_demo/image_pipeline/watermark_node.hpp"
 
 int main(int argc, char * argv[])
 {

intra_process_demo/src/image_pipeline/image_view_node.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "image_pipeline/image_view_node.hpp"
+#include "intra_process_demo/image_pipeline/image_view_node.hpp"
 
 #include <rclcpp/rclcpp.hpp>
 

intra_process_demo/src/image_pipeline/watermark_node.cpp

@@ -12,7 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include "image_pipeline/watermark_node.hpp"
+#include "intra_process_demo/image_pipeline/watermark_node.hpp"
 
 #include <rclcpp/rclcpp.hpp>