Demo Nodes (C++) executables #1196

marcoag · 2024-04-29T23:40:24Z

Configuration

DDS: FastDDS
Build type: Debian
OS: Ubuntu Noble 24.04
Chip set: AMD64

Links

Demo Nodes C++

Process

The executables in the README are present and work as expected.

iam-shanmukha · 2024-05-04T01:49:46Z

Tested Demo Nodes in Docker.

docker run -it -e DISPLAY=$DISPLAY -v /home/{USERNAME}/ros_workspaces/jazzy_ws:/home/ubuntu/jazzy_ws ghcr.io/sloretz/ros-testing:jazzy-desktop

Noticeable updates are :

Parameter Events Node Name is parameter_events_async instead of parameters_events_async. You can see the output below. In the documentation it is mentioned as parameters_events_async
Even Parameters Node name is event_parameters_node instead of even_parameters_node. May need to update executable name ?
Loaned message talker is not working (FASTDDS). - Known Error.
Rest all working as expected.

publisher and subscriber

root@vishnuk-Predator-PH315-54:/home/ubuntu/jazzy_ws# ros2 run demo_nodes_cpp talker
[INFO] [1714781728.523538365] [talker]: Publishing: 'Hello World: 1'
[INFO] [1714781729.523491003] [talker]: Publishing: 'Hello World: 2'
[INFO] [1714781730.523485955] [talker]: Publishing: 'Hello World: 3'
[INFO] [1714781731.523577677] [talker]: Publishing: 'Hello World: 4'

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp listener
[INFO] [1714781728.523939070] [listener]: I heard: [Hello World: 1]
[INFO] [1714781729.523705785] [listener]: I heard: [Hello World: 2]
[INFO] [1714781730.523759486] [listener]: I heard: [Hello World: 3]
[INFO] [1714781731.523987879] [listener]: I heard: [Hello World: 4]
[INFO] [1714781732.523758057] [listener]: I heard: [Hello World: 5]

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp listener_best_effort
[INFO] [1714781728.523952986] [listener]: I heard: [Hello World: 1]
[INFO] [1714781729.523699234] [listener]: I heard: [Hello World: 2]
[INFO] [1714781730.523761903] [listener]: I heard: [Hello World: 3]
[INFO] [1714781731.523782725] [listener]: I heard: [Hello World: 4]
[INFO] [1714781732.523737968] [listener]: I heard: [Hello World: 5]
[INFO] [1714781733.523855794] [listener]: I heard: [Hello World: 6]

Server and Client

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp add_two_ints_server
[INFO] [1714781910.500536430] [add_two_ints_server]: Incoming request
a: 2 b: 3
[INFO] [1714781910.936944718] [add_two_ints_server]: Incoming request
a: 2 b: 3

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp add_two_ints_client
[INFO] [1714781910.500716544] [add_two_ints_client]: Result of add_two_ints: 5
root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp add_two_ints_client
[INFO] [1714781932.325223271] [add_two_ints_client]: Result of add_two_ints: 5

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp add_two_ints_client_async
[INFO] [1714781909.532701060] [add_two_ints_client]: service not available, waiting again...
[INFO] [1714781910.937351535] [add_two_ints_client]: Result of add_two_ints: 5
root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp add_two_ints_client_async
[INFO] [1714781935.086246212] [add_two_ints_client]: Result of add_two_ints: 5

On-oFF Timer

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp one_off_timer

[INFO] [1714781994.230328170] [one_off_timer]: in periodic_timer callback
[INFO] [1714781994.230459682] [one_off_timer]:   resetting one off timer
[INFO] [1714781995.230684855] [one_off_timer]: in one_off_timer callback
[INFO] [1714781996.230332493] [one_off_timer]: in periodic_timer callback
[INFO] [1714781996.230400237] [one_off_timer]:   not resetting one off timer
[INFO] [1714781998.230331426] [one_off_timer]: in periodic_timer callback
[INFO] [1714781998.230400072] [one_off_timer]:   not resetting one off timer
[INFO] [1714782000.230277437] [one_off_timer]: in periodic_timer callback
[INFO] [1714782000.230338908] [one_off_timer]:   resetting one off timer
[INFO] [1714782001.230573882] [one_off_timer]: in one_off_timer callback
[INFO] [1714782002.230238143] [one_off_timer]: in periodic_timer callback

reuse timer

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp reuse_timer
[INFO] [1714782054.494136434] [reuse_timer]: in periodic_timer callback
[INFO] [1714782054.494256234] [reuse_timer]:   resetting one off timer
[INFO] [1714782055.494468278] [reuse_timer]: in one_off_timer callback
[INFO] [1714782056.494122419] [reuse_timer]: in periodic_timer callback
[INFO] [1714782056.494190735] [reuse_timer]:   not resetting one off timer
[INFO] [1714782058.494122809] [reuse_timer]: in periodic_timer callback
[INFO] [1714782058.494190732] [reuse_timer]:   not resetting one off timer
[INFO] [1714782060.494121656] [reuse_timer]: in periodic_timer callback

Serialized messaging

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp talker_serialized_message
ROS message:
Hello World:1
serialized message:
00 01 00 00 0e 00 00 00 48 65 6c 6c 6f 20 57 6f 72 6c 64 3a 31 00 
ROS message:
Hello World:2
serialized message:
00 01 00 00 0e 00 00 00 48 65 6c 6c 6f 20 57 6f 72 6c 64 3a 32 00 
ROS message:
Hello World:3
serialized message:
00 01 00 00 0e 00 00 00 48 65 6c 6c 6f 20 57 6f 72 6c 64 3a 33 00 
ROS message:

root@vishnuk-Predator-PH315-54:/# source /opt/ros/jazzy/setup.bash 
root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp listener_serialized_message
I heard data of length: 24
00 01 00 00 0e 00 00 00 48 65 6c 6c 6f 20 57 6f 72 6c 64 3a 31 00 00 00 
serialized data after deserialization: Hello World:1
I heard data of length: 24
00 01 00 00 0e 00 00 00 48 65 6c 6c 6f 20 57 6f 72 6c 64 3a 32 00 00 00 
serialized data after deserialization: Hello World:2
I heard data of length: 24
00 01 00 00 0e 00 00 00 48 65 6c 6c 6f 20 57 6f 72 6c 64 3a 33 00 00 00 
serialized data after deserialization: Hello World:3
I heard data of length: 24
00 01 00 00 0e 00 00 00 48 65 6c 6c 6f 20 57 6f 72 6c 64 3a 34 00 00 00 
serialized data after deserialization: Hello World:4
I heard data of length: 24
00 01 00 00 0e 00 00 00 48 65 6c 6c 6f 20 57 6f 72 6c 64 3a 35 00 00 00

Content Filter messaging

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp content_filtering_subscriber
[INFO] [1714783037.948540535] [content_filtering_subscriber]: subscribed to topic "/temperature" with content filter options "data < %0 OR data > %1, {-30.000000, 100.000000}"
[INFO] [1714783044.314271964] [content_filtering_subscriber]: I receive an emergency temperature data: [-100.000000]
[INFO] [1714783045.314169307] [content_filtering_subscriber]: I receive an emergency temperature data: [-90.000000]
[INFO] [1714783046.314191660] [content_filtering_subscriber]: I receive an emergency temperature data: [-80.000000]
[INFO] [1714783047.314222788] [content_filtering_subscriber]: I receive an emergency temperature data: [-70.000000]
[INFO] [1714783048.314206120] [content_filtering_subscriber]: I receive an emergency temperature data: [-60.000000]
[INFO] [1714783049.314249189] [content_filtering_subscriber]: I receive an emergency temperature data: [-50.000000]
[INFO] [1714783050.314243012] [content_filtering_subscriber]: I receive an emergency temperature data: [-40.000000]

[INFO] [1714783065.314187468] [content_filtering_subscriber]: I receive an emergency temperature data: [110.000000]
[INFO] [1714783066.314218789] [content_filtering_subscriber]: I receive an emergency temperature data: [120.000000]
[INFO] [1714783067.314134690] [content_filtering_subscriber]: I receive an emergency temperature data: [130.000000]
[INFO] [1714783068.314101507] [content_filtering_subscriber]: I receive an emergency temperature data: [140.000000]
[INFO] [1714783069.314211853] [content_filtering_subscriber]: I receive an emergency temperature data: [150.000000]
[INFO] [1714783070.314144197] [content_filtering_subscriber]: I receive an emergency temperature data: [-100.000000]
[INFO] [1714783071.314109314] [content_filtering_subscriber]: I receive an emergency temperature data: [-90.000000]
[INFO] [1714783072.313998189] [content_filtering_subscriber]: I receive an emergency temperature data: [-80.000000]
[INFO] [1714783073.314103772] [content_filtering_subscriber]: I receive an emergency temperature data: [-70.000000]
[INFO] [1714783074.314080724] [content_filtering_subscriber]: I receive an emergency temperature data: [-60.000000]
[INFO] [1714783075.313939555] [content_filtering_subscriber]: I receive an emergency temperature data: [-50.000000]
[INFO] [1714783076.314065144] [content_filtering_subscriber]: I receive an emergency temperature data: [-40.000000]
[INFO] [1714783091.314170240] [content_filtering_subscriber]: I receive an emergency temperature data: [110.000000]

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp content_filtering_publisher
[INFO] [1714783044.313836583] [content_filtering_publisher]: Publishing: '-100.000000'
[INFO] [1714783045.313795130] [content_filtering_publisher]: Publishing: '-90.000000'
[INFO] [1714783046.313806874] [content_filtering_publisher]: Publishing: '-80.000000'
[INFO] [1714783047.313824454] [content_filtering_publisher]: Publishing: '-70.000000'
[INFO] [1714783048.313801301] [content_filtering_publisher]: Publishing: '-60.000000'
[INFO] [1714783049.313821721] [content_filtering_publisher]: Publishing: '-50.000000'
[INFO] [1714783050.313818395] [content_filtering_publisher]: Publishing: '-40.000000'
[INFO] [1714783051.313792973] [content_filtering_publisher]: Publishing: '-30.000000'
[INFO] [1714783052.313729472] [content_filtering_publisher]: Publishing: '-20.000000'
[INFO] [1714783053.313730079] [content_filtering_publisher]: Publishing: '-10.000000'
[INFO] [1714783054.313819140] [content_filtering_publisher]: Publishing: '0.000000'
[INFO] [1714783055.313795141] [content_filtering_publisher]: Publishing: '10.000000'
[INFO] [1714783056.313784542] [content_filtering_publisher]: Publishing: '20.000000'
[INFO] [1714783057.313830301] [content_filtering_publisher]: Publishing: '30.000000'
[INFO] [1714783058.313760925] [content_filtering_publisher]: Publishing: '40.000000'
[INFO] [1714783059.313808923] [content_filtering_publisher]: Publishing: '50.000000'
[INFO] [1714783060.313783036] [content_filtering_publisher]: Publishing: '60.000000'
[INFO] [1714783061.313779073] [content_filtering_publisher]: Publishing: '70.000000'
[INFO] [1714783062.313799515] [content_filtering_publisher]: Publishing: '80.000000'
[INFO] [1714783063.313803686] [content_filtering_publisher]: Publishing: '90.000000'
[INFO] [1714783064.313793697] [content_filtering_publisher]: Publishing: '100.000000'

List Parameters

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp list_parameters
[INFO] [1714782425.230739400] [list_parameters]: Setting parameters...
[INFO] [1714782425.232263675] [list_parameters]: Listing parameters...
[INFO] [1714782425.232413945] [list_parameters]: 
Parameter names:
 bar
 foo
 foo.first
 foo.second
Parameter prefixes:
 foo
root@vishnuk-Predator-PH315-54:/#

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp list_parameters_async
[INFO] [1714782442.013329265] [list_parameters_async]: Setting parameters...
[INFO] [1714782442.014837543] [list_parameters_async]: Listing parameters...
[INFO] [1714782442.014996773] [list_parameters_async]: 
Parameter names:
 bar
 foo
 foo.first
 foo.second
Parameter prefixes:
 foo
root@vishnuk-Predator-PH315-54:/#

set and get parameters

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp set_and_get_parameters
[INFO] [1714782473.229170945] [set_and_get_parameters]: 
Parameter name: foo
Parameter value (integer): 2
Parameter name: baz
Parameter value (double): 1.450000
Parameter name: foobarbaz
Parameter value (bool_array): [true, false]
Parameter name: toto
Parameter value (byte_array): [0xff, 0x7f]
root@vishnuk-Predator-PH315-54:/#

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp set_and_get_parameters_async
[INFO] [1714782512.351771315] [set_and_get_parameters_async]: 
Parameter name: foo
Parameter value (integer): 2
Parameter name: baz
Parameter value (double): 1.450000
Parameter name: foobarbaz
Parameter value (bool_array): [true, false]
Parameter name: toto
Parameter value (byte_array): [0xff, 0x7f]

Allocator

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp allocator_tutorial
This simple demo shows off a custom memory allocator to count all
instances of new/delete in the program.  It can be run in either regular
mode (no arguments), or in intra-process mode (by passing 'intra' as a
command-line argument).  It will then publish a message to the
'/allocator_tutorial' topic every 10 milliseconds until Ctrl-C is pressed.
At that time it will print a count of the number of allocations and
deallocations that happened during the program.

Intra-process pipeline is OFF.
^C[INFO] [1714782696.672427584] [rclcpp]: signal_handler(signum=2)
Global new was called 44083 times during spin
Global delete was called 43896 times during spin
Allocator new was called 22421 times during spin
Allocator delete was called 22419 times during spin
[ros2run]: Segmentation fault
root@vishnuk-Predator-PH315-54:/#

root@vishnuk-Predator-PH315-54:/# ros2 topic echo /allocator_tutorial 
^Croot@vishnuk-Predator-PH315-54:/ros2 topic echo /allocator_tutorial 
WARNING: topic [/allocator_tutorial] does not appear to be published yet
Could not determine the type for the passed topic
root@vishnuk-Predator-PH315-54:/# ros2 topic echo /allocator_tutorial 
data: 178
---
data: 179
---
data: 180
---
data: 181
---
data: 182
---

Parameter events

Synchronous

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp parameter_events
[INFO] [1714783428.692679821] [parameter_events]: 
Parameter event:
 new parameters:
  foo
 changed parameters:
 deleted parameters:

[INFO] [1714783428.693174255] [parameter_events]: 
Parameter event:
 new parameters:
  bar
 changed parameters:
 deleted parameters:

[INFO] [1714783428.693242184] [parameter_events]: 
Parameter event:
 new parameters:
  baz
 changed parameters:
 deleted parameters:

[INFO] [1714783428.693483185] [parameter_events]: 
Parameter event:
 new parameters:
  foobar
 changed parameters:
 deleted parameters:

[INFO] [1714783428.693527446] [parameter_events]: 
Parameter event:
 new parameters:
 changed parameters:
  foo
 deleted parameters:

[INFO] [1714783428.693546732] [parameter_events]: 
Parameter event:
 new parameters:
 changed parameters:
  bar
 deleted parameters:

[INFO] [1714783428.693558781] [parameter_events]: 
Parameter event:
 new parameters:
 changed parameters:
  baz
 deleted parameters:

[INFO] [1714783428.693569846] [parameter_events]: 
Parameter event:
 new parameters:
 changed parameters:
  foobar
 deleted parameters:

[INFO] [1714783428.693580555] [parameter_events]: 
Parameter event:
 new parameters:
 changed parameters:
  foo
 deleted parameters:

[INFO] [1714783428.693590969] [parameter_events]: 
Parameter event:
 new parameters:
 changed parameters:
  bar
 deleted parameters:

root@vishnuk-Predator-PH315-54:/#

Asynchronous

Node Name is parameter_events_async instead of parameters_events_async

root@vishnuk-Predator-PH315-54:/home/ubuntu/jazzy_ws# ros2 run demo_nodes_cpp parameter_events_async 
[INFO] [1714783589.324340170] [parameter_events]: 
Parameter event:
 new parameters:
  foo
 changed parameters:
 deleted parameters:

[INFO] [1714783589.324440149] [parameter_events]: 
Parameter event:
 new parameters:
  bar
 changed parameters:
 deleted parameters:

[INFO] [1714783589.324475110] [parameter_events]: 
Parameter event:
 new parameters:
  baz
 changed parameters:
 deleted parameters:

[INFO] [1714783589.324490845] [parameter_events]: 
Parameter event:
 new parameters:
  foobar
 changed parameters:
 deleted parameters:

[INFO] [1714783589.525730106] [parameter_events]: 
Parameter event:
 new parameters:
 changed parameters:
  foo
 deleted parameters:

[INFO] [1714783589.525930469] [parameter_events]: 
Parameter event:
 new parameters:
 changed parameters:
  bar
 deleted parameters:

[INFO] [1714783589.526446312] [parameter_events]: 
Parameter event:
 new parameters:
 changed parameters:
  baz
 deleted parameters:

[INFO] [1714783589.526590119] [parameter_events]: 
Parameter event:
 new parameters:
 changed parameters:
  foobar
 deleted parameters:

[INFO] [1714783589.526669304] [parameter_events]: 
Parameter event:
 new parameters:
 changed parameters:
  foo
 deleted parameters:

[INFO] [1714783589.526701828] [parameter_events]: 
Parameter event:
 new parameters:
 changed parameters:
  bar
 deleted parameters:

root@vishnuk-Predator-PH315-54:/home/ubuntu/jazzy_ws#

Even Parameters Node.

Node name is event_parameters_node instead of even_parameters_node

root@8e3c52c8c3ab:/# ros2 run demo_nodes_cpp even_parameters_node
No executable found

~/ros_workspaces (master ✔) docker run -it -e DISPLAY=$DISPLAY -v $HOME/.Xauthority:/root/.Xauthority:ro -v /home/vishnuk/ros_workspaces/jazzy_ws:/home/ubuntu/jazzy_ws ghcr.io/sloretz/ros-testing:jazzy-desktop 
 
root@276d8e99b760:/# ros2 run demo_nodes_cpp event_parameters_node
[INFO] [1714786138.651499689] [even_parameters_node]: This example node shows a parameter callback that rejects
[INFO] [1714786138.651539175] [even_parameters_node]: all parameter updates except for those that set an even integer.
[INFO] [1714786138.651543778] [even_parameters_node]: Try running 'ros2 param set /even_parameters_node myint 2' to
[INFO] [1714786138.651547101] [even_parameters_node]: successfully set a parameter.
[INFO] [1714786183.350450742] [even_parameters_node]: parameter 'myint' has changed and is now: 2
[INFO] [1714786537.573315620] [even_parameters_node]: Requested value '3' for parameter 'myint' is not an even number: rejecting change...

root@276d8e99b760:/# ros2 param set /even_parameters_node myint 2
Set parameter successful
root@276d8e99b760:/# ros2 param set /even_parameters_node myint 3
Setting parameter failed: only even integers can be set

Set paraneters callback

root@dac0f440859a:/# ros2 run demo_nodes_cpp set_parameters_callback
[INFO] [1714786278.757544451] [set_param_callback_node]: This node demonstrates the use of parameter callbacks.
[INFO] [1714786278.757583887] [set_param_callback_node]: As an example, it exhibits the following behavior:
[INFO] [1714786278.757588853] [set_param_callback_node]:  * Two parameters of type double are declared in the node: 'param1' and 'param2'
[INFO] [1714786278.757593067] [set_param_callback_node]:  * 'param1' cannot be set to a value > 5.0
[INFO] [1714786278.757596510] [set_param_callback_node]:  * 'param2' cannot be set to a value < -5.0
[INFO] [1714786278.757599628] [set_param_callback_node]:  * Each time 'param1' is set, 'param2' is automatically set to 4.0
[INFO] [1714786278.757604208] [set_param_callback_node]:  * Member variables 'value_1_' and 'value_2_' are updated upon change of the parameters.
[INFO] [1714786278.757609678] [set_param_callback_node]: To try it out set a parameter, e.g.:
[INFO] [1714786278.757615865] [set_param_callback_node]:   ros2 param set set_param_callback_node param1 10.0
[INFO] [1714786278.757620730] [set_param_callback_node]:   ros2 param set set_param_callback_node param1 3.0
[INFO] [1714786278.757627023] [set_param_callback_node]: The first command will fail.
[INFO] [1714786278.757630416] [set_param_callback_node]: The 2nd command will set 'param1' to 3.0 and 'param2' to 4.0.
[INFO] [1714786353.387661565] [set_param_callback_node]: Member variable 'value_1_' set to: 3.000000.
[INFO] [1714786353.387699641] [set_param_callback_node]: Member variable 'value_2_' set to: 4.000000.
[INFO] [1714786372.996468170] [set_param_callback_node]: Member variable 'value_1_' set to: 3.000000.
[INFO] [1714786372.996543152] [set_param_callback_node]: Member variable 'value_2_' set to: 4.000000.

root@dac0f440859a:/# ros2 param set set_param_callback_node param1 10.0
Setting parameter failed: cannot set 'param1' > 5.0
root@dac0f440859a:/# ros2 param set set_param_callback_node param1 3.0
Set parameter successful

Parameter Blackboard

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp parameter_blackboard
[INFO] [1714784202.188199921] [parameter_blackboard]: Parameter blackboard node named '/parameter_blackboard' ready, and serving '6' parameters already!

root@838d7288e2ee:/# ros2 param list
bash: ros2: command not found
root@838d7288e2ee:/# source /opt/ros/jazzy/setup.bash 
root@838d7288e2ee:/# ros2 param list
/a_namespace/a_remote_node:
  a_string_param
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  start_type_description_service
  use_sim_time
/even_parameters_node:
  myint
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  start_type_description_service
  use_sim_time
/parameter_blackboard:
  qos_overrides./parameter_events.publisher.depth
  qos_overrides./parameter_events.publisher.durability
  qos_overrides./parameter_events.publisher.history
  qos_overrides./parameter_events.publisher.reliability
  start_type_description_service
  use_sim_time

Parameter Event Handler

root@eaccf8c69e69:/#  ros2 run demo_nodes_cpp parameter_event_handler
This demo is monitoring for the following parameter changes:

	node: "this_node"
	parameter: "an_int_param"

	node: "/a_namespace/a_remote_node"
	parameter: "a_string_param"

To activate the callbacks, from a separate shell/console window, execute either of the following example commands:

	$ ros2 param set this_node an_int_param 21
	$ ros2 param set /a_namespace/a_remote_node a_string_param "string value to set"

[INFO] [1714785842.364915020] [this_node]: cb1: Received an update to parameter "an_int_param" of type integer: "21"
[INFO] [1714785842.365008535] [this_node]: cb3: Received an update to parameter "an_int_param" of type: integer: "21"

root@eaccf8c69e69:/# ros2 param set this_node an_int_param 21
Set parameter successful

Loaned Message Talker

Currently Used middleware can't loan messages.

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp talker_loaned_message
[INFO] [1714784609.751101785] [loaned_message_talker]: Publishing: '1.000000'
[INFO] [1714784609.751240585] [rclcpp]: Currently used middleware can't loan messages. Local allocator will be used.
[INFO] [1714784609.751254747] [loaned_message_talker]: Publishing: 'Hello World: 1'
[INFO] [1714784610.751076490] [loaned_message_talker]: Publishing: '2.000000'
[INFO] [1714784610.751152429] [loaned_message_talker]: Publishing: 'Hello World: 2'
[INFO] [1714784611.751073961] [loaned_message_talker]: Publishing: '3.000000'
[INFO] [1714784611.751147946] [loaned_message_talker]: Publishing: 'Hello World: 3'
[INFO] [1714784612.751044534] [loaned_message_talker]: Publishing: '4.000000'

Matched Event Detect

root@vishnuk-Predator-PH315-54:/# ros2 run demo_nodes_cpp matched_event_detect
[INFO] [1714784666.523491609] [multi_sub_node]: Create a new subscription.
[INFO] [1714784666.524162323] [matched_event_detect_node]: First subscription is connected.
[INFO] [1714784666.524180097] [multi_sub_node]: Create a new subscription.
[INFO] [1714784666.524746366] [matched_event_detect_node]: The changed number of connected subscription is 1 and current number of connected subscription is 2.
[INFO] [1714784666.524760632] [multi_sub_node]: Destroy a subscription.
[INFO] [1714784666.525377337] [matched_event_detect_node]: The changed number of connected subscription is -1 and current number of connected subscription is 1.
[INFO] [1714784666.525391527] [multi_sub_node]: Destroy a subscription.
[INFO] [1714784666.525929061] [matched_event_detect_node]: Last subscription is disconnected.
[INFO] [1714784666.525941452] [multi_pub_node]: Create a new publisher.
[INFO] [1714784666.526485645] [matched_event_detect_node]: First publisher is connected.
[INFO] [1714784666.526498709] [multi_pub_node]: Create a new publisher.
[INFO] [1714784666.527058066] [matched_event_detect_node]: The changed number of connected publisher is 1 and current number of connected publisher is 2.
[INFO] [1714784666.527071641] [multi_pub_node]: Destroy a publisher.
[INFO] [1714784666.527672840] [matched_event_detect_node]: The changed number of connected publisher is -1 and current number of connected publisher is 1.
[INFO] [1714784666.527685748] [multi_pub_node]: Destroy a publisher.
[INFO] [1714784666.528199913] [matched_event_detect_node]: Last publisher is disconnected.

iam-shanmukha · 2024-05-05T16:09:02Z

Hi @marcoag, can you please assign this to me?

marcoag added Build type: Debian Chip set: AMD64 DDS: FastDDS executable feature OS: Ubuntu Noble 24.04 version: 0.0.1 labels Apr 29, 2024

iam-shanmukha mentioned this issue May 5, 2024

Demo Nodes Native (C++) executables #1198

Closed

iam-shanmukha mentioned this issue May 5, 2024

[demo_nodes_cpp] some readme and executable name fixups ros2/demos#678

Merged

marcoag assigned iam-shanmukha May 5, 2024

ahcorde closed this as completed May 6, 2024

marcoag added the jazzy label May 16, 2024

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Demo Nodes (C++) executables #1196

Demo Nodes (C++) executables #1196

marcoag commented Apr 29, 2024

iam-shanmukha commented May 4, 2024 •

edited

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iam-shanmukha commented May 5, 2024

Demo Nodes (C++) executables #1196

Demo Nodes (C++) executables #1196

Comments

marcoag commented Apr 29, 2024

Configuration

Links

Process

The executables in the README are present and work as expected.

iam-shanmukha commented May 4, 2024 • edited Loading

Tested Demo Nodes in Docker.

Noticeable updates are :

publisher and subscriber

Server and Client

On-oFF Timer

reuse timer

Serialized messaging

Content Filter messaging

List Parameters

set and get parameters

Allocator

Parameter events

Synchronous

Asynchronous

Even Parameters Node.

Set paraneters callback

Parameter Blackboard

Parameter Event Handler

Loaned Message Talker

Matched Event Detect

iam-shanmukha commented May 5, 2024

iam-shanmukha commented May 4, 2024 •

edited

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