From 8239aaad138690c1c3c1e9cc59afebddca46b68c Mon Sep 17 00:00:00 2001 From: Prajakta Gokhale Date: Thu, 2 Apr 2020 13:03:56 -0700 Subject: [PATCH] Use dummy_message instead of imu Signed-off-by: Prajakta Gokhale --- system_metrics_collector/CMakeLists.txt | 11 ++++---- system_metrics_collector/package.xml | 1 - ...alker.launch.py => dummy_talker.launch.py} | 4 +-- .../{imu_talker.cpp => dummy_talker.cpp} | 27 ++++++++++--------- 4 files changed, 22 insertions(+), 21 deletions(-) rename system_metrics_collector/share/system_metrics_collector/examples/{imu_talker.launch.py => dummy_talker.launch.py} (89%) rename system_metrics_collector/src/topic_statistics_collector/{imu_talker.cpp => dummy_talker.cpp} (68%) 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();