ROS Shared Object

A talker example of implementation with ROS2 node as shared object

Requirements

OS: Linux ROS2: Rolling Ridley (Can be changed to other versions)

Build

mkdir build && build
cmake ..
make

Run

In this example, communication with the Listener of demo_nodes_py in ROS2.

Open another terminal, and in the terminal,

source /opt/ros/rolling/setup.bash
ros2 run demo_nodes_py listener

In the terminal used for the build process,

source /opt/ros/rolling/setup.bash
./test

File descriptions

• ros_shared_object.cpp : Source code for shared object version of ROS2 node. Equivalent to Talker in the cpp_pubsub package.
• test.cpp : Source code for the application to test the shared objects to be created.

Reference

https://github.com/flynneva/godot_ros