make pacledt-compose'Node'

packet/packet_composed/CMakeLists.txt

@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.8)
+project(packet_composed)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(packet_interfaces REQUIRED)
+
+ add_executable(Composed
+ src/composed_main.cpp
+ src/composed.cpp
+ )
+
+ ament_target_dependencies(Composed
+ rclcpp
+ packet_interfaces
+ )
+
+ target_include_directories(Composed
+ PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include>
+ )
+ install(TARGETS
+ Composed
+ DESTINATION lib/${PROJECT_NAME}
+ )
+
+ament_package()
+

packet/packet_composed/include/packet_composed/sensorspacket.hpp

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+#ifndef PACKET_COMPOSED_SENSORPACKET_HPP
+#define PACKET_COMPOSED_SENSORPACKET_HPP
+
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+class Composed : public rclcpp::Node {
+private:
+
+ std::shared_ptr<rclcpp::Publisher<std_msgs::msg::String>> _publisher;
+ std::shared_ptr<rclcpp::TimerBase> _timer;
+ unsigned int _count;
+ void _loop();
+
+public:
+ Composed();
+};
+
+#endif // PACKET_COMPOSED_SENSORPACKET_HPP

packet/packet_composed/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>packet_composed</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="[email protected]">norikonakano</maintainer>
+ <license>MIT</license>
+ <buildtool_depend>ament_cmake</buildtool_depend>
+ <depend>rclcpp</depend>
+ <depend>packet_interfaces</depend>
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+</package>

packet/packet_composed/src/composed.cpp

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+#include <chrono>
+#include <functional>
+#include <string>
+
+#include "packet_composed/sensorspacket.hpp"
+
+void Composed::_loop() {
+ std::stringstream ss;
+ ss << "Hello, world! " << _count;
+ std_msgs::msg::String msg{};
+ msg.data = ss.str();
+ RCLCPP_INFO(this->get_logger(), "say %s", ss.str().c_str());
+ _publisher->publish(msg);
+ _count++;
+}
+
+
+Composed::Composed() :
+ rclcpp::Node("composed"),
+ _publisher(),
+ _timer(), 
+ _count(0) 
+{
+ using namespace std::chrono_literals;
+ _publisher = this->create_publisher<std_msgs::msg::String>("/sensorspacket", 10);
+ auto loop = std::bind(&Composed::_loop, this);
+ _timer = this->create_wall_timer(500ms, loop);
+}

packet/packet_composed/src/composed_main.cpp

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+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include "packet_composed/sensorspacket.hpp" 
+
+int main(int argc, char * argv[]) {
+ rclcpp::init(argc, argv);
+ auto node = std::make_shared<Composed>();
+ rclcpp::spin(node);
+ rclcpp::shutdown();
+ return 0;
+}