Example component node usage #60
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tylerjw
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example/include/generate_parameter_library_example/minimal_publisher.hpp
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example/src/minimal_publisher.cpp
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| admittance_controller::Params params_; | ||
| }; | ||
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| int main(int numArgs, const char** args) { |
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I understand that for the Compoennts one doesn't need main. Nevertheless, would it make sense to have both examples, Component Node and "normal" Node?
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When you create a component node it also creates an executable. You can see from the cmake and the readme of the example that there is still an executable and this file is now redundant.
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@destogl These are now three separate PRs. Hopefully, that makes this easier to review. |
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| rclcpp_components_register_node(minimal_publisher | ||
| PLUGIN "admittance_controller::MinimalPublisher" | ||
| EXECUTABLE test_node |
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@destogl when you create a component node, it now creates a stand-alone executable to use that node with this macro. This is what makes the main.cpp redundant as it is now generated for us.
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The readme in the example directory has instructions for running it. |
Fixes #56
This also fixes some deadlock conditions that were possible and updates the example readme.