more demos converted

Signed-off-by: Siddharth Kucheria <kucheria@usc.edu>

demo_nodes_cpp/CMakeLists.txt

@@ -43,14 +43,10 @@ function(use_composition library folder executable)
     "example_interfaces")
 endfunction()
 # Tutorials of Publish/Subscribe with Topics
-custom_executable(topics listener)
 custom_executable(topics allocator_tutorial)
-custom_executable(topics listener_serialized_message)
 
 # Tutorials of Request/Response with Services
 custom_executable(services add_two_ints_client)
-custom_executable(services add_two_ints_client_async)
-custom_executable(services add_two_ints_server)
 
 # Tutorials of Parameters with Asynchronous and Synchronous
 custom_executable(parameters list_parameters_async)
@@ -60,32 +56,56 @@ custom_executable(parameters set_and_get_parameters_async)
 custom_executable(parameters parameter_events_async)
 
 
+use_composition(serverlib services add_two_ints_server)
+rclcpp_components_register_node(serverlib PLUGIN "demo_nodes_cpp::ServerNode"
+  EXECUTABLE add_two_ints_server)
+use_composition(clientasynclib services add_two_ints_client_async)
+rclcpp_components_register_node(clientasynclib PLUGIN "demo_nodes_cpp::ClientNode"
+  EXECUTABLE add_two_ints_client_async)
 use_composition(listparameterslib parameters list_parameters)
-rclcpp_components_register_node(listparameterslib PLUGIN "demo_nodes_cpp::ListParameters" EXECUTABLE list_parameters)
+rclcpp_components_register_node(listparameterslib PLUGIN "demo_nodes_cpp::ListParameters"
+  EXECUTABLE list_parameters)
 use_composition(parameterblackboardlib parameters parameter_blackboard)
-rclcpp_components_register_node(parameterblackboardlib PLUGIN "demo_nodes_cpp::ParameterBlackboard" EXECUTABLE parameter_blackboard)
+rclcpp_components_register_node(parameterblackboardlib PLUGIN "demo_nodes_cpp::ParameterBlackboard"
+  EXECUTABLE parameter_blackboard)
 use_composition(setandgetparameterslib parameters set_and_get_parameters)
-rclcpp_components_register_node(setandgetparameterslib PLUGIN "demo_nodes_cpp::SetAndGetParameters" EXECUTABLE set_and_get_parameters)
+rclcpp_components_register_node(setandgetparameterslib PLUGIN "demo_nodes_cpp::SetAndGetParameters" 
+  EXECUTABLE set_and_get_parameters) 
 use_composition(talkerlib topics talker)
-rclcpp_components_register_node(talkerlib PLUGIN "demo_nodes_cpp::Talker" EXECUTABLE talker)
+rclcpp_components_register_node(talkerlib PLUGIN "demo_nodes_cpp::Talker"
+  EXECUTABLE talker)
 use_composition(talkerserializedlib topics talker_serialized_message)
-rclcpp_components_register_node(talkerserializedlib PLUGIN "demo_nodes_cpp::SerializedMessageTalker" EXECUTABLE talker_serialized_message)
+rclcpp_components_register_node(talkerserializedlib PLUGIN "demo_nodes_cpp::SerializedMessageTalker"
+  EXECUTABLE talker_serialized_message)
+use_composition(listenerlib topics listener)
+rclcpp_components_register_node(listenerlib PLUGIN "demo_nodes_cpp::Listener"
+  EXECUTABLE listener)
+use_composition(listenerserializedlib topics listener_serialized_message)
+rclcpp_components_register_node(listenerserializedlib PLUGIN "demo_nodes_cpp::SerializedMessageListener"
+  EXECUTABLE listener_serialized_message)
 use_composition(listenerbesteffortlib topics listener_best_effort)
-rclcpp_components_register_node(listenerbesteffortlib PLUGIN "demo_nodes_cpp::ListenerBestEffort" EXECUTABLE listener_best_effort)
+rclcpp_components_register_node(listenerbesteffortlib PLUGIN "demo_nodes_cpp::ListenerBestEffort"
+  EXECUTABLE listener_best_effort)
 use_composition(oneofftimerlib timers one_off_timer)
-rclcpp_components_register_node(oneofftimerlib PLUGIN "demo_nodes_cpp::OneOffTimerNode" EXECUTABLE one_off_timer)
+rclcpp_components_register_node(oneofftimerlib PLUGIN "demo_nodes_cpp::OneOffTimerNode"
+  EXECUTABLE one_off_timer)
 use_composition(resusetimerlib timers reuse_timer)
-rclcpp_components_register_node(resusetimerlib PLUGIN "demo_nodes_cpp::ReuseTimerNode" EXECUTABLE reuse_timer)
+rclcpp_components_register_node(resusetimerlib PLUGIN "demo_nodes_cpp::ReuseTimerNode"
+  EXECUTABLE reuse_timer)
 
 install(TARGETS
   talkerlib
+  serverlib
+  clientasynclib
   talkerserializedlib
   listenerbesteffortlib
+  listenerlib
   oneofftimerlib
   resusetimerlib
   parameterblackboardlib
   listparameterslib
   setandgetparameterslib
+  listenerserializedlib
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin)

demo_nodes_cpp/src/parameters/parameter_events_async.cpp

@@ -144,4 +144,4 @@ int main(int argc, char ** argv)
   rclcpp::shutdown();
 
   return 0;
-}
+}

demo_nodes_cpp/src/services/add_two_ints_client_async.cpp

@@ -17,33 +17,37 @@
 #include <iostream>
 #include <memory>
 #include <string>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
 #include "rcutils/cmdline_parser.h"
 
 #include "example_interfaces/srv/add_two_ints.hpp"
 
 using namespace std::chrono_literals;
 
-void print_usage()
+namespace demo_nodes_cpp
 {
-  printf("Usage for add_two_ints_client app:\n");
-  printf("add_two_ints_client [-s service_name] [-h]\n");
-  printf("options:\n");
-  printf("-h : Print this help function.\n");
-  printf("-s service_name : Specify the service name for this client. Defaults to add_two_ints.\n");
-}
-
 class ClientNode : public rclcpp::Node
 {
 public:
-  explicit ClientNode(const std::string & service_name)
-  : Node("add_two_ints_client")
+  explicit ClientNode(const rclcpp::NodeOptions & options)
+  : Node("add_two_ints_client", options)
   {
-    client_ = create_client<example_interfaces::srv::AddTwoInts>(service_name);
-
+    std::vector<std::string> args = options.arguments();
+    if (find_command_option(args, "-h")) {
+      print_usage();
+      rclcpp::shutdown();
+    } else {
+      std::string tmptopic = get_command_option(args, "-s");
+      if (!tmptopic.empty()) {
+        service_name_ = tmptopic;
+      }
+      client_ = create_client<example_interfaces::srv::AddTwoInts>(service_name_);
+      queue_async_request();
+    }
     // Queue an asynchronous service request that will be sent once `spin` is called on the node.
-    queue_async_request();
   }
 
   void queue_async_request()
@@ -73,33 +77,34 @@ class ClientNode : public rclcpp::Node
     auto future_result = client_->async_send_request(request, response_received_callback);
   }
 
-private:
-  rclcpp::Client<example_interfaces::srv::AddTwoInts>::SharedPtr client_;
-};
-
-int main(int argc, char ** argv)
-{
-  // Force flush of the stdout buffer.
-  // This ensures a correct sync of all prints
-  // even when executed simultaneously within the launch file.
-  setvbuf(stdout, NULL, _IONBF, BUFSIZ);
-
-  if (rcutils_cli_option_exist(argv, argv + argc, "-h")) {
-    print_usage();
-    return 0;
+  void print_usage()
+  {
+    printf("Usage for add_two_ints_client app:\n");
+    printf("add_two_ints_client [-s service_name] [-h]\n");
+    printf("options:\n");
+    printf("-h : Print this help function.\n");
+    printf("-s service_name : Specify the service name for client. Defaults to add_two_ints.\n");
   }
 
-  rclcpp::init(argc, argv);
+  bool find_command_option(const std::vector<std::string> & args, const std::string & option)
+  {
+    return std::find(args.begin(), args.end(), option) != args.end();
+  }
 
-  auto service_name = std::string("add_two_ints");
-  char * cli_option = rcutils_cli_get_option(argv, argv + argc, "-s");
-  if (nullptr != cli_option) {
-    service_name = std::string(cli_option);
+  std::string get_command_option(const std::vector<std::string> & args, const std::string & option)
+  {
+    auto it = std::find(args.begin(), args.end(), option);
+    if (it != args.end() && ++it != args.end()) {
+      return *it;
+    }
+    return std::string();
   }
 
-  auto node = std::make_shared<ClientNode>(service_name);
-  rclcpp::spin(node);
+private:
+  rclcpp::Client<example_interfaces::srv::AddTwoInts>::SharedPtr client_;
+  std::string service_name_ = "add_two_ints";
+};
+
+}  // namespace demo_nodes_cpp
 
-  rclcpp::shutdown();
-  return 0;
-}
+RCLCPP_COMPONENTS_REGISTER_NODE(demo_nodes_cpp::ClientNode)

demo_nodes_cpp/src/services/add_two_ints_server.cpp

@@ -16,29 +16,48 @@
 #include <cstdio>
 #include <memory>
 #include <string>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
 #include "rcutils/cmdline_parser.h"
 
 #include "example_interfaces/srv/add_two_ints.hpp"
 
-void print_usage()
+namespace demo_nodes_cpp
 {
-  printf("Usage for add_two_ints_server app:\n");
-  printf("add_two_ints_server [-s service_name] [-h]\n");
-  printf("options:\n");
-  printf("-h : Print this help function.\n");
-  printf("-s service_name : Specify the service name for this server. Defaults to add_two_ints.\n");
-}
-
 
 class ServerNode : public rclcpp::Node
 {
 public:
-  explicit ServerNode(const std::string & service_name)
-  : Node("add_two_ints_server")
+  explicit ServerNode(const rclcpp::NodeOptions & options)
+  : Node("add_two_ints_server", options)
   {
+    std::vector<std::string> args = options.arguments();
+    if (find_command_option(args, "-h")) {
+      print_usage();
+      rclcpp::shutdown();
+    } else {
+      std::string tmptopic = get_command_option(args, "-s");
+      if (!tmptopic.empty()) {
+        service_name_ = tmptopic;
+      }
+      execute();
+    }
     // Create a callback function for when service requests are received.
+  }
+
+  void print_usage()
+  {
+    printf("Uage for add_two_ints_server app:\n");
+    printf("add_two_ints_server [-s service_name] [-h]\n");
+    printf("options:\n");
+    printf("-h : Print this help function\n");
+    printf("-s service_name : Specify the service name for this sever. Defaults to add_two_ints\n");
+  }
+
+  void execute()
+  {
     auto handle_add_two_ints =
       [this](const std::shared_ptr<rmw_request_id_t> request_header,
         const std::shared_ptr<example_interfaces::srv::AddTwoInts::Request> request,
@@ -49,38 +68,29 @@ class ServerNode : public rclcpp::Node
           request->a, request->b);
         response->sum = request->a + request->b;
       };
-
     // Create a service that will use the callback function to handle requests.
-    srv_ = create_service<example_interfaces::srv::AddTwoInts>(service_name, handle_add_two_ints);
+    srv_ = create_service<example_interfaces::srv::AddTwoInts>(service_name_, handle_add_two_ints);
   }
 
-private:
-  rclcpp::Service<example_interfaces::srv::AddTwoInts>::SharedPtr srv_;
-};
-
-int main(int argc, char * argv[])
-{
-  // Force flush of the stdout buffer.
-  // This ensures a correct sync of all prints
-  // even when executed simultaneously within the launch file.
-  setvbuf(stdout, NULL, _IONBF, BUFSIZ);
-
-  if (rcutils_cli_option_exist(argv, argv + argc, "-h")) {
-    print_usage();
-    return 0;
+  bool find_command_option(const std::vector<std::string> & args, const std::string & option)
+  {
+    return std::find(args.begin(), args.end(), option) != args.end();
   }
 
-  rclcpp::init(argc, argv);
-
-  auto service_name = std::string("add_two_ints");
-  char * cli_option = rcutils_cli_get_option(argv, argv + argc, "-s");
-  if (nullptr != cli_option) {
-    service_name = std::string(cli_option);
+  std::string get_command_option(const std::vector<std::string> & args, const std::string & option)
+  {
+    auto it = std::find(args.begin(), args.end(), option);
+    if (it != args.end() && ++it != args.end()) {
+      return *it;
+    }
+    return std::string();
   }
 
-  auto node = std::make_shared<ServerNode>(service_name);
-  rclcpp::spin(node);
+private:
+  rclcpp::Service<example_interfaces::srv::AddTwoInts>::SharedPtr srv_;
+  std::string service_name_ = "add_two_ints";
+};
+
+}  // namespace demo_nodes_cpp
 
-  rclcpp::shutdown();
-  return 0;
-}
+RCLCPP_COMPONENTS_REGISTER_NODE(demo_nodes_cpp::ServerNode)