diff --git a/system_metrics_collector/CMakeLists.txt b/system_metrics_collector/CMakeLists.txt
index fbc132b1..5c6fa5c7 100644
--- 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
index f8e7a8c1..ad692b87 100644
--- a/system_metrics_collector/package.xml
+++ b/system_metrics_collector/package.xml
@@ -18,7 +18,6 @@
rclcpp_lifecycle
rcpputils
rcutils
- sensor_msgs
rosidl_default_generators
std_msgs
diff --git a/system_metrics_collector/share/system_metrics_collector/examples/imu_talker.launch.py b/system_metrics_collector/share/system_metrics_collector/examples/dummy_talker.launch.py
similarity index 89%
rename from system_metrics_collector/share/system_metrics_collector/examples/imu_talker.launch.py
rename to system_metrics_collector/share/system_metrics_collector/examples/dummy_talker.launch.py
index 57915f4f..841672fc 100644
--- a/system_metrics_collector/share/system_metrics_collector/examples/imu_talker.launch.py
+++ b/system_metrics_collector/share/system_metrics_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/system_metrics_collector/src/topic_statistics_collector/imu_talker.cpp b/system_metrics_collector/src/topic_statistics_collector/dummy_talker.cpp
similarity index 68%
rename from system_metrics_collector/src/topic_statistics_collector/imu_talker.cpp
rename to system_metrics_collector/src/topic_statistics_collector/dummy_talker.cpp
index 42dfec7f..5576dbf9 100644
--- a/system_metrics_collector/src/topic_statistics_collector/imu_talker.cpp
+++ b/system_metrics_collector/src/topic_statistics_collector/dummy_talker.cpp
@@ -16,17 +16,18 @@
#include
#include
+#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 =
@@ -34,7 +35,7 @@ class ImuTalker : public rclcpp::Node
{
std::unique_lock ulock{mutex_};
- msg_ = std::make_unique();
+ msg_ = std::make_unique();
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(
- "imu_data",
+ publisher_ = this->create_publisher(
+ "dummy_data",
10 /* QoS history_depth */);
timer_ = this->create_wall_timer(1s, publish_lambda);
}
private:
- std::unique_ptr msg_;
- rclcpp::Publisher::SharedPtr publisher_;
+ std::unique_ptr msg_;
+ rclcpp::Publisher::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();
+ const auto dummy_talker =
+ std::make_shared();
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();