initial commit

cpp_pubsub/src/publisher_member_function.cpp

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+// 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.
+
+#include <chrono>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+using namespace std::chrono_literals;
+
+/* This example creates a subclass of Node and uses std::bind() to register a
+ * member function as a callback from the timer. */
+
+class MinimalPublisher : public rclcpp::Node
+{
+public:
+  MinimalPublisher()
+  : Node("minimal_publisher"), count_(0)
+  {
+    publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
+    timer_ = this->create_wall_timer(
+      500ms, std::bind(&MinimalPublisher::timer_callback, this));
+  }
+
+private:
+  void timer_callback()
+  {
+    auto message = std_msgs::msg::String();
+    message.data = "Hello, world! " + std::to_string(count_++);
+    RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
+    publisher_->publish(message);
+  }
+  rclcpp::TimerBase::SharedPtr timer_;
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+  size_t count_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalPublisher>());
+  rclcpp::shutdown();
+  return 0;
+}

cpp_pubsub/src/subscriber_member_function.cpp

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+// 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.
+
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+using std::placeholders::_1;
+
+class MinimalSubscriber : public rclcpp::Node
+{
+public:
+  MinimalSubscriber()
+  : Node("minimal_subscriber")
+  {
+    subscription_ = this->create_subscription<std_msgs::msg::String>(
+      "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));
+  }
+
+private:
+  void topic_callback(const std_msgs::msg::String::SharedPtr msg) const
+  {
+    RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
+  }
+  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalSubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}