Use dummy_message instead of imu

Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>
ros-tooling · Apr 2, 2020 · 8239aaa · 8239aaa
1 parent 58faa95
commit 8239aaa
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Showing 4 changed files with 22 additions and 21 deletions.
diff --git a/system_metrics_collector/CMakeLists.txt b/system_metrics_collector/CMakeLists.txt
@@ -87,9 +87,9 @@ add_executable(linux_memory_collector src/system_metrics_collector/linux_memory_
 target_link_libraries(linux_memory_collector ${PROJECT_NAME})
 ament_target_dependencies(linux_memory_collector)
 
-add_executable(imu_talker src/topic_statistics_collector/imu_talker.cpp)
-target_link_libraries(imu_talker system_metrics_collector)
-ament_target_dependencies(imu_talker sensor_msgs)
+add_executable(dummy_talker src/topic_statistics_collector/dummy_talker.cpp)
+target_link_libraries(dummy_talker system_metrics_collector)
+ament_target_dependencies(dummy_talker)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -144,8 +144,9 @@ if(BUILD_TESTING)
   ament_target_dependencies(test_subscriber_topic_statistics rcl rclcpp)
 endif()
 
-# To enable use of dummy_message.hpp in test_subscriber_topic_statistics
+# To enable use of dummy_message.hpp in executables
 rosidl_target_interfaces(test_subscriber_topic_statistics system_metrics_collector_test_msgs "rosidl_typesupport_cpp")
+rosidl_target_interfaces(dummy_talker system_metrics_collector_test_msgs "rosidl_typesupport_cpp")
 
 # Install launch files
 install(DIRECTORY
@@ -173,7 +174,7 @@ install(TARGETS
 )
 
 install(TARGETS
-  imu_talker
+  dummy_talker
   DESTINATION
   lib/${PROJECT_NAME}
 )

diff --git a/system_metrics_collector/package.xml b/system_metrics_collector/package.xml
@@ -18,7 +18,6 @@
   <depend>rclcpp_lifecycle</depend>
   <depend>rcpputils</depend>
   <depend>rcutils</depend>
-  <depend>sensor_msgs</depend>
 
   <build_depend>rosidl_default_generators</build_depend>
   <build_depend>std_msgs</build_depend>

diff --git a/...s_collector/examples/imu_talker.launch.py → ...collector/examples/dummy_talker.launch.py b/...s_collector/examples/imu_talker.launch.py → ...collector/examples/dummy_talker.launch.py
@@ -12,7 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-"""Launch file to launch an IMU data publisher node."""
+"""Launch file to launch a DummyMessage publisher node."""
 
 from launch import LaunchDescription
 import launch_ros.actions
@@ -22,6 +22,6 @@ def generate_launch_description():
     return LaunchDescription([
         launch_ros.actions.Node(
             package='system_metrics_collector',
-            node_executable='imu_talker',
+            node_executable='dummy_talker',
             output='screen'),
     ])
diff --git a/...topic_statistics_collector/imu_talker.cpp → ...pic_statistics_collector/dummy_talker.cpp b/...topic_statistics_collector/imu_talker.cpp → ...pic_statistics_collector/dummy_talker.cpp
@@ -16,25 +16,26 @@
 #include <mutex>
 #include <utility>
 
+#include "system_metrics_collector/msg/dummy_message.hpp"
+
 #include "rclcpp/rclcpp.hpp"
-#include "sensor_msgs/msg/imu.hpp"
 
 /**
- * A class that publishes IMU messages every second with the Header set to current time.
+ * A class that publishes DummyMessages every second with the Header set to current time.
  */
-class ImuTalker : public rclcpp::Node
+class DummyTalker : public rclcpp::Node
 {
 public:
-  ImuTalker()
-  : Node("imu_talker")
+  DummyTalker()
+  : Node("dummy_talker")
   {
     using namespace std::chrono_literals;
     auto publish_lambda =
       [this]() -> void
       {
         std::unique_lock<std::mutex> ulock{mutex_};
 
-        msg_ = std::make_unique<sensor_msgs::msg::Imu>();
+        msg_ = std::make_unique<system_metrics_collector::msg::DummyMessage>();
         msg_->header = std_msgs::msg::Header{};
         msg_->header.stamp = this->now();
         RCLCPP_INFO(
@@ -45,15 +46,15 @@ class ImuTalker : public rclcpp::Node
         publisher_->publish(std::move(msg_));
       };
 
-    publisher_ = this->create_publisher<sensor_msgs::msg::Imu>(
-      "imu_data",
+    publisher_ = this->create_publisher<system_metrics_collector::msg::DummyMessage>(
+      "dummy_data",
       10 /* QoS history_depth */);
     timer_ = this->create_wall_timer(1s, publish_lambda);
   }
 
 private:
-  std::unique_ptr<sensor_msgs::msg::Imu> msg_;
-  rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr publisher_;
+  std::unique_ptr<system_metrics_collector::msg::DummyMessage> msg_;
+  rclcpp::Publisher<system_metrics_collector::msg::DummyMessage>::SharedPtr publisher_;
   rclcpp::TimerBase::SharedPtr timer_;
   mutable std::mutex mutex_;
 };
@@ -62,11 +63,11 @@ int main(int argc, char ** argv)
 {
   rclcpp::init(argc, argv);
 
-  const auto imu_talker_node =
-    std::make_shared<ImuTalker>();
+  const auto dummy_talker =
+    std::make_shared<DummyTalker>();
 
   rclcpp::executors::SingleThreadedExecutor ex;
-  ex.add_node(imu_talker_node->get_node_base_interface());
+  ex.add_node(dummy_talker->get_node_base_interface());
   ex.spin();
 
   rclcpp::shutdown();