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Add configured examples with domain ID #30

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Merged
pablogs9 merged 3 commits into from
Nov 10, 2020
Merged

Add configured examples with domain ID #30

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130472b
Add configured examples with domain ID
pablogs9 Nov 9, 2020
93b5e90
Allow ROS Domain ID to be configurable from CLI
jamoralp Nov 10, 2020
3081a91
Fix indentation
jamoralp Nov 10, 2020
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18 changes: 15 additions & 3 deletions rclc/configuration_example/configured_publisher/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,13 @@ void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
}

int main(int argc, char * const argv[])
{
{
if (argc < 3 || argc > 4)
{
printf("Usage: configured_publisher <IP> <port> <DomainID (default: 0)>\n");
return 1;
}

rcl_allocator_t allocator = rcl_get_default_allocator();
rclc_support_t support;
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
Expand All @@ -42,7 +48,11 @@ int main(int argc, char * const argv[])

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
RCCHECK(rclc_node_init_default(&node, "int32_configured_publisher_rclc", "", &support));
rcl_node_options_t node_ops = rcl_node_get_default_options();
node_ops.domain_id = (size_t)(argc == 4 ? atoi(argv[3]) : 0);
const char * node_name = "int32_configured_publisher_rclc";
printf("Initializing node '%s' with ROS Domain ID %ld...\n",node_name, node_ops.domain_id);
RCCHECK(rclc_node_init_with_options(&node, node_name, "", &support, &node_ops));

// create publisher
RCCHECK(rclc_publisher_init_default(
Expand All @@ -69,9 +79,11 @@ int main(int argc, char * const argv[])
RCCHECK(rclc_executor_add_timer(&executor, &timer));

msg.data = 0;

rclc_executor_spin(&executor);

RCCHECK(rcl_publisher_fini(&publisher, &node));
RCCHECK(rcl_node_fini(&node));

return 0;
}
16 changes: 14 additions & 2 deletions rclc/configuration_example/configured_subscriber/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,12 @@ void subscription_callback(const void * msgin)

int main(int argc, const char * const * argv)
{
if (argc < 3 || argc > 4)
{
printf("Usage: configured_subscriber <IP> <port> <DomainID (default: 0)>\n");
return 1;
}

rcl_allocator_t allocator = rcl_get_default_allocator();
rclc_support_t support;
rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
Expand All @@ -38,7 +44,11 @@ int main(int argc, const char * const * argv)

// create node
rcl_node_t node = rcl_get_zero_initialized_node();
RCCHECK(rclc_node_init_default(&node, "int32_configured_subscriber_rclc", "", &support));
rcl_node_options_t node_ops = rcl_node_get_default_options();
node_ops.domain_id = (size_t)(argc == 4 ? atoi(argv[3]) : 0);
const char * node_name = "int32_configured_subscriber_rclc";
printf("Initializing node '%s' with ROS Domain ID %ld...\n", node_name, node_ops.domain_id);
RCCHECK(rclc_node_init_with_options(&node, node_name, "", &support, &node_ops));

// create subscriber
RCCHECK(rclc_subscription_init_default(
Expand All @@ -54,9 +64,11 @@ int main(int argc, const char * const * argv)
unsigned int rcl_wait_timeout = 1000; // in ms
RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &msg, &subscription_callback, ON_NEW_DATA));

rclc_executor_spin(&executor);

RCCHECK(rcl_subscription_fini(&subscriber, &node));
RCCHECK(rcl_node_fini(&node));

return 0;
}