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Switching to example_interfaces #674

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3bf2665
Switching to example_interfaces
CursedRock17 May 1, 2024
578b01f
Fixing cpplint
CursedRock17 May 1, 2024
c2becea
Slight cpplint error
CursedRock17 May 1, 2024
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8 changes: 4 additions & 4 deletions composition/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ find_package(example_interfaces REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rcutils REQUIRED)
find_package(std_msgs REQUIRED)
find_package(example_interfaces REQUIRED)

include_directories(include)

Expand All @@ -31,7 +31,7 @@ target_compile_definitions(talker_component
ament_target_dependencies(talker_component
"rclcpp"
"rclcpp_components"
"std_msgs")
"example_interfaces")
rclcpp_components_register_nodes(talker_component "composition::Talker")
set(node_plugins "${node_plugins}composition::Talker;$<TARGET_FILE:talker_component>\n")

Expand All @@ -42,7 +42,7 @@ target_compile_definitions(listener_component
ament_target_dependencies(listener_component
"rclcpp"
"rclcpp_components"
"std_msgs")
"example_interfaces")
rclcpp_components_register_nodes(listener_component "composition::Listener")
set(node_plugins "${node_plugins}composition::Listener;$<TARGET_FILE:listener_component>\n")

Expand All @@ -53,7 +53,7 @@ target_compile_definitions(node_like_listener_component
ament_target_dependencies(node_like_listener_component
"rclcpp"
"rclcpp_components"
"std_msgs")
"example_interfaces")
rclcpp_components_register_nodes(node_like_listener_component "composition::NodeLikeListener")
set(node_plugins "${node_plugins}composition::NodeLikeListener;$<TARGET_FILE:node_like_listener_component>\n")

Expand Down
4 changes: 2 additions & 2 deletions composition/include/composition/listener_component.hpp
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Expand Up @@ -17,7 +17,7 @@

#include "composition/visibility_control.h"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "example_interfaces/msg/string.hpp"

namespace composition
{
Expand All @@ -29,7 +29,7 @@ class Listener : public rclcpp::Node
explicit Listener(const rclcpp::NodeOptions & options);

private:
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;
rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr sub_;
};

} // namespace composition
Expand Down
4 changes: 2 additions & 2 deletions composition/include/composition/node_like_listener_component.hpp
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Expand Up @@ -17,7 +17,7 @@

#include "composition/visibility_control.h"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "example_interfaces/msg/string.hpp"

namespace composition
{
Expand All @@ -34,7 +34,7 @@ class NodeLikeListener

private:
rclcpp::Node::SharedPtr node_;
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;
rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr sub_;
};

} // namespace composition
Expand Down
4 changes: 2 additions & 2 deletions composition/include/composition/talker_component.hpp
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Expand Up @@ -17,7 +17,7 @@

#include "composition/visibility_control.h"
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "example_interfaces/msg/string.hpp"

namespace composition
{
Expand All @@ -33,7 +33,7 @@ class Talker : public rclcpp::Node

private:
size_t count_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
rclcpp::Publisher<example_interfaces::msg::String>::SharedPtr pub_;
rclcpp::TimerBase::SharedPtr timer_;
};

Expand Down
4 changes: 2 additions & 2 deletions composition/package.xml
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Expand Up @@ -19,14 +19,14 @@
<build_depend>rclcpp</build_depend>
<build_depend>rclcpp_components</build_depend>
<build_depend>rcutils</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>example_interfaces</build_depend>

<exec_depend>example_interfaces</exec_depend>
<exec_depend>launch_ros</exec_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>rclcpp_components</exec_depend>
<exec_depend>rcutils</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>example_interfaces</exec_depend>

<test_depend>ament_cmake_pytest</test_depend>
<test_depend>ament_lint_auto</test_depend>
Expand Down
6 changes: 3 additions & 3 deletions composition/src/listener_component.cpp
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Expand Up @@ -18,7 +18,7 @@
#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "example_interfaces/msg/string.hpp"

namespace composition
{
Expand All @@ -32,7 +32,7 @@ Listener::Listener(const rclcpp::NodeOptions & options)
// Create a callback function for when messages are received.
// Variations of this function also exist using, for example, UniquePtr for zero-copy transport.
auto callback =
[this](std_msgs::msg::String::ConstSharedPtr msg) -> void
[this](example_interfaces::msg::String::ConstSharedPtr msg) -> void
{
RCLCPP_INFO(this->get_logger(), "I heard: [%s]", msg->data.c_str());
std::flush(std::cout);
Expand All @@ -42,7 +42,7 @@ Listener::Listener(const rclcpp::NodeOptions & options)
// compatible ROS publishers.
// Note that not all publishers on the same topic with the same type will be compatible:
// they must have compatible Quality of Service policies.
sub_ = create_subscription<std_msgs::msg::String>("chatter", 10, callback);
sub_ = create_subscription<example_interfaces::msg::String>("chatter", 10, callback);
}

} // namespace composition
Expand Down
6 changes: 3 additions & 3 deletions composition/src/node_like_listener_component.cpp
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Expand Up @@ -18,7 +18,7 @@
#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "example_interfaces/msg/string.hpp"

namespace composition
{
Expand All @@ -38,7 +38,7 @@ NodeLikeListener::NodeLikeListener(const rclcpp::NodeOptions & options)
// Create a callback function for when messages are received.
// Variations of this function also exist using, for example, UniquePtr for zero-copy transport.
auto callback =
[this](std_msgs::msg::String::ConstSharedPtr msg) -> void
[this](example_interfaces::msg::String::ConstSharedPtr msg) -> void
{
RCLCPP_INFO(this->node_->get_logger(), "I heard: [%s]", msg->data.c_str());
std::flush(std::cout);
Expand All @@ -48,7 +48,7 @@ NodeLikeListener::NodeLikeListener(const rclcpp::NodeOptions & options)
// compatible ROS publishers.
// Note that not all publishers on the same topic with the same type will be compatible:
// they must have compatible Quality of Service policies.
sub_ = this->node_->create_subscription<std_msgs::msg::String>("chatter", 10, callback);
sub_ = this->node_->create_subscription<example_interfaces::msg::String>("chatter", 10, callback);
}

rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
Expand Down
8 changes: 4 additions & 4 deletions composition/src/talker_component.cpp
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Expand Up @@ -20,7 +20,7 @@
#include <utility>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#include "example_interfaces/msg/string.hpp"

using namespace std::chrono_literals;

Expand All @@ -33,16 +33,16 @@ namespace composition
Talker::Talker(const rclcpp::NodeOptions & options)
: Node("talker", options), count_(0)
{
// Create a publisher of "std_mgs/String" messages on the "chatter" topic.
pub_ = create_publisher<std_msgs::msg::String>("chatter", 10);
// Create a publisher of "example_interfaces/msg/String" messages on the "chatter" topic.
pub_ = create_publisher<example_interfaces::msg::String>("chatter", 10);

// Use a timer to schedule periodic message publishing.
timer_ = create_wall_timer(1s, [this]() {return this->on_timer();});
}

void Talker::on_timer()
{
auto msg = std::make_unique<std_msgs::msg::String>();
auto msg = std::make_unique<example_interfaces::msg::String>();
msg->data = "Hello World: " + std::to_string(++count_);
RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", msg->data.c_str());
std::flush(std::cout);
Expand Down
24 changes: 12 additions & 12 deletions demo_nodes_cpp/CMakeLists.txt
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Expand Up @@ -21,7 +21,7 @@ find_package(rclcpp_components REQUIRED)
find_package(rcpputils REQUIRED)
find_package(rcutils REQUIRED)
find_package(rmw REQUIRED)
find_package(std_msgs REQUIRED)
find_package(example_interfaces REQUIRED)

function(custom_executable subfolder target)
cmake_parse_arguments(ARG "" "" "DEPENDENCIES" ${ARGN})
Expand Down Expand Up @@ -50,7 +50,7 @@ target_include_directories(allocator_tutorial PRIVATE
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(allocator_tutorial PRIVATE
rclcpp::rclcpp
${std_msgs_TARGETS}
${example_interfaces_TARGETS}
)
install(TARGETS allocator_tutorial
DESTINATION lib/${PROJECT_NAME})
Expand All @@ -71,10 +71,10 @@ custom_executable(parameters set_and_get_parameters_async
DEPENDENCIES rclcpp::rclcpp)

custom_executable(events matched_event_detect
DEPENDENCIES rclcpp::rclcpp ${std_msgs_TARGETS})
DEPENDENCIES rclcpp::rclcpp ${example_interfaces_TARGETS})

custom_executable(logging use_logger_service
DEPENDENCIES ${rcl_interfaces_TARGETS} rclcpp::rclcpp ${std_msgs_TARGETS})
DEPENDENCIES ${rcl_interfaces_TARGETS} rclcpp::rclcpp ${example_interfaces_TARGETS})

function(create_demo_library plugin executable)
cmake_parse_arguments(ARG "" "" "FILES;DEPENDENCIES" ${ARGN})
Expand Down Expand Up @@ -145,28 +145,28 @@ create_demo_library("demo_nodes_cpp::IntrospectionClientNode" introspection_clie
# Topics
create_demo_library("demo_nodes_cpp::ContentFilteringPublisher" content_filtering_publisher
FILES src/topics/content_filtering_publisher.cpp
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${std_msgs_TARGETS})
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${example_interfaces_TARGETS})
create_demo_library("demo_nodes_cpp::ContentFilteringSubscriber" content_filtering_subscriber
FILES src/topics/content_filtering_subscriber.cpp
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component rcpputils::rcpputils ${std_msgs_TARGETS})
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component rcpputils::rcpputils ${example_interfaces_TARGETS})
create_demo_library("demo_nodes_cpp::Talker" talker
FILES src/topics/talker.cpp
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${std_msgs_TARGETS})
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${example_interfaces_TARGETS})
create_demo_library("demo_nodes_cpp::LoanedMessageTalker" talker_loaned_message
FILES src/topics/talker_loaned_message.cpp
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${std_msgs_TARGETS})
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${example_interfaces_TARGETS})
create_demo_library("demo_nodes_cpp::SerializedMessageTalker" talker_serialized_message
FILES src/topics/talker_serialized_message.cpp
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${std_msgs_TARGETS})
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${example_interfaces_TARGETS})
create_demo_library("demo_nodes_cpp::Listener" listener
FILES src/topics/listener.cpp
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${std_msgs_TARGETS})
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${example_interfaces_TARGETS})
create_demo_library("demo_nodes_cpp::SerializedMessageListener" listener_serialized_message
FILES src/topics/listener_serialized_message.cpp
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${std_msgs_TARGETS})
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${example_interfaces_TARGETS})
create_demo_library("demo_nodes_cpp::ListenerBestEffort" listener_best_effort
FILES src/topics/listener_best_effort.cpp
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${std_msgs_TARGETS})
DEPENDENCIES rclcpp::rclcpp rclcpp_components::component ${example_interfaces_TARGETS})

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
Expand Down
2 changes: 1 addition & 1 deletion demo_nodes_cpp/README.md
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Expand Up @@ -198,7 +198,7 @@ ros2 run demo_nodes_cpp set_and_get_parameters_async

### Allocator Tutorial

This runs `allocator_tutorial` ROS 2 node that publishes a `std_msgs/msg/UInt32` message that contains an integer representing the number of allocations and deallocations that happened during the program.
This runs `allocator_tutorial` ROS 2 node that publishes a `example_interfaces/msg/UInt32` message that contains an integer representing the number of allocations and deallocations that happened during the program.

```bash
# Open new terminal
Expand Down
4 changes: 2 additions & 2 deletions demo_nodes_cpp/package.xml
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Expand Up @@ -25,7 +25,7 @@
<build_depend>rcpputils</build_depend>
<build_depend>rcutils</build_depend>
<build_depend>rmw</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>example_interfaces</build_depend>

<exec_depend>example_interfaces</exec_depend>
<exec_depend>launch_ros</exec_depend>
Expand All @@ -37,7 +37,7 @@
<exec_depend>rcpputils</exec_depend>
<exec_depend>rcutils</exec_depend>
<exec_depend>rmw</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>example_interfaces</exec_depend>

<test_depend>ament_cmake_pytest</test_depend>
<test_depend>ament_lint_auto</test_depend>
Expand Down
30 changes: 15 additions & 15 deletions demo_nodes_cpp/src/events/matched_event_detect.cpp
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Expand Up @@ -18,7 +18,7 @@

#include "rclcpp/rclcpp.hpp"

#include "std_msgs/msg/string.hpp"
#include "example_interfaces/msg/string.hpp"

using namespace std::chrono_literals;

Expand Down Expand Up @@ -60,7 +60,7 @@ class MatchedEventDetectNode : public rclcpp::Node
promise_->set_value(true);
};

pub_ = create_publisher<std_msgs::msg::String>(
pub_ = create_publisher<example_interfaces::msg::String>(
pub_topic_name, 10, pub_options);

rclcpp::SubscriptionOptions sub_options;
Expand All @@ -84,10 +84,10 @@ class MatchedEventDetectNode : public rclcpp::Node
}
promise_->set_value(true);
};
sub_ = create_subscription<std_msgs::msg::String>(
sub_ = create_subscription<example_interfaces::msg::String>(
sub_topic_name,
10,
[](std_msgs::msg::String::ConstSharedPtr) {},
[](example_interfaces::msg::String::ConstSharedPtr) {},
sub_options);
}

Expand All @@ -98,8 +98,8 @@ class MatchedEventDetectNode : public rclcpp::Node
}

private:
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;
rclcpp::Publisher<example_interfaces::msg::String>::SharedPtr pub_;
rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr sub_;
bool any_subscription_connected_{false};
bool any_publisher_connected_{false};
std::shared_ptr<std::promise<bool>> promise_;
Expand All @@ -113,19 +113,19 @@ class MultiSubNode : public rclcpp::Node
topic_name_(topic_name)
{}

rclcpp::Subscription<std_msgs::msg::String>::WeakPtr create_one_sub(void)
rclcpp::Subscription<example_interfaces::msg::String>::WeakPtr create_one_sub(void)
{
RCLCPP_INFO(this->get_logger(), "Create a new subscription.");
auto sub = create_subscription<std_msgs::msg::String>(
auto sub = create_subscription<example_interfaces::msg::String>(
topic_name_,
10,
[](std_msgs::msg::String::ConstSharedPtr) {});
[](example_interfaces::msg::String::ConstSharedPtr) {});

subs_.emplace_back(sub);
return sub;
}

void destroy_one_sub(rclcpp::Subscription<std_msgs::msg::String>::WeakPtr sub)
void destroy_one_sub(rclcpp::Subscription<example_interfaces::msg::String>::WeakPtr sub)
{
auto sub_shared_ptr = sub.lock();
if (sub_shared_ptr == nullptr) {
Expand All @@ -143,7 +143,7 @@ class MultiSubNode : public rclcpp::Node

private:
std::string topic_name_;
std::vector<rclcpp::Subscription<std_msgs::msg::String>::SharedPtr> subs_;
std::vector<rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr> subs_;
};

class MultiPubNode : public rclcpp::Node
Expand All @@ -154,16 +154,16 @@ class MultiPubNode : public rclcpp::Node
topic_name_(topic_name)
{}

rclcpp::Publisher<std_msgs::msg::String>::WeakPtr create_one_pub(void)
rclcpp::Publisher<example_interfaces::msg::String>::WeakPtr create_one_pub(void)
{
RCLCPP_INFO(this->get_logger(), "Create a new publisher.");
auto pub = create_publisher<std_msgs::msg::String>(topic_name_, 10);
auto pub = create_publisher<example_interfaces::msg::String>(topic_name_, 10);
pubs_.emplace_back(pub);

return pub;
}

void destroy_one_pub(rclcpp::Publisher<std_msgs::msg::String>::WeakPtr pub)
void destroy_one_pub(rclcpp::Publisher<example_interfaces::msg::String>::WeakPtr pub)
{
auto pub_shared_ptr = pub.lock();
if (pub_shared_ptr == nullptr) {
Expand All @@ -181,7 +181,7 @@ class MultiPubNode : public rclcpp::Node

private:
std::string topic_name_;
std::vector<rclcpp::Publisher<std_msgs::msg::String>::SharedPtr> pubs_;
std::vector<rclcpp::Publisher<example_interfaces::msg::String>::SharedPtr> pubs_;
};

int main(int argc, char ** argv)
Expand Down
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