added flush buffer flags for all demos

demo_nodes_cpp/CMakeLists.txt

@@ -57,40 +57,40 @@ custom_executable(parameters parameter_events_async)
 
 # Tutorial with Topics, Services, and Paramteres using composable nodes
 use_composition(serverlib services add_two_ints_server)
-rclcpp_components_register_node(serverlib PLUGIN "demo_nodes_cpp::ServerNode"
+rclcpp_components_register_node(serverlib FLUSH_BUFFER 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"
+rclcpp_components_register_node(clientasynclib FLUSH_BUFFER 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"
+rclcpp_components_register_node(listparameterslib FLUSH_BUFFER PLUGIN "demo_nodes_cpp::ListParameters"
   EXECUTABLE list_parameters)
 use_composition(parameterblackboardlib parameters parameter_blackboard)
-rclcpp_components_register_node(parameterblackboardlib PLUGIN "demo_nodes_cpp::ParameterBlackboard"
+rclcpp_components_register_node(parameterblackboardlib FLUSH_BUFFER 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 FLUSH_BUFFER 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"
+rclcpp_components_register_node(talkerlib FLUSH_BUFFER PLUGIN "demo_nodes_cpp::Talker"
   EXECUTABLE talker)
 use_composition(talkerserializedlib topics talker_serialized_message)
-rclcpp_components_register_node(talkerserializedlib PLUGIN "demo_nodes_cpp::SerializedMessageTalker"
+rclcpp_components_register_node(talkerserializedlib FLUSH_BUFFER PLUGIN "demo_nodes_cpp::SerializedMessageTalker"
   EXECUTABLE talker_serialized_message)
 use_composition(listenerlib topics listener)
-rclcpp_components_register_node(listenerlib PLUGIN "demo_nodes_cpp::Listener"
+rclcpp_components_register_node(listenerlib FLUSH_BUFFER PLUGIN "demo_nodes_cpp::Listener"
   EXECUTABLE listener)
 use_composition(listenerserializedlib topics listener_serialized_message)
-rclcpp_components_register_node(listenerserializedlib PLUGIN "demo_nodes_cpp::SerializedMessageListener"
+rclcpp_components_register_node(listenerserializedlib FLUSH_BUFFER 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"
+rclcpp_components_register_node(listenerbesteffortlib FLUSH_BUFFER 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"
+rclcpp_components_register_node(oneofftimerlib FLUSH_BUFFER 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"
+rclcpp_components_register_node(resusetimerlib FLUSH_BUFFER PLUGIN "demo_nodes_cpp::ReuseTimerNode"
   EXECUTABLE reuse_timer)
 
 install(TARGETS

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/topics/listener.cpp

@@ -45,18 +45,17 @@ class Listener : public rclcpp::Node
         topic_name_ = tmptopic;
       }
       auto callback =
-      [this](const std_msgs::msg::String::SharedPtr msg) -> void
-      {
-        RCLCPP_INFO(this->get_logger(), "I heard: [%s]", msg->data.c_str());
-      };
+        [this](const std_msgs::msg::String::SharedPtr msg) -> void
+        {
+          RCLCPP_INFO(this->get_logger(), "I heard: [%s]", msg->data.c_str());
+        };
 
       // Create a subscription to the topic which can be matched with one or more compatible ROS
       // publishers.
       // Note that not all publishers on the same topic with the same type will be compatible:
       // they must have compatible Quality of Service policies.
       sub_ = create_subscription<std_msgs::msg::String>(topic_name_, 10, callback);
     }
-
   }
 
   void print_usage()
@@ -89,4 +88,4 @@ class Listener : public rclcpp::Node
 
 }  // namespace demo_nodes_cpp
 
-RCLCPP_COMPONENTS_REGISTER_NODE(demo_nodes_cpp::Listener)
+RCLCPP_COMPONENTS_REGISTER_NODE(demo_nodes_cpp::Listener)

demo_nodes_cpp/src/topics/listener_serialized_message.cpp

@@ -15,6 +15,7 @@
 #include <iostream>
 #include <memory>
 #include <string>
+#include <vector>
 
 #include "rcl/types.h"
 #include "rclcpp/rclcpp.hpp"

demo_nodes_cpp/src/topics/talker.cpp

@@ -17,6 +17,7 @@
 #include <memory>
 #include <string>
 #include <utility>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
@@ -47,16 +48,15 @@ class Talker : public rclcpp::Node
         topic_name_ = tmptopic;
       }
       auto publish_message =
-      [this]() -> void
-      {
-        msg_ = std::make_unique<std_msgs::msg::String>();
-        msg_->data = "Hello World: " + std::to_string(count_++);
-        RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", msg_->data.c_str());
-
-        // Put the message into a queue to be processed by the middleware.
-        // This call is non-blocking.
-        pub_->publish(std::move(msg_));
-      };
+        [this]() -> void
+        {
+          msg_ = std::make_unique<std_msgs::msg::String>();
+          msg_->data = "Hello World: " + std::to_string(count_++);
+          RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", msg_->data.c_str());
+          // Put the message into a queue to be processed by the middleware.
+          // This call is non-blocking.
+          pub_->publish(std::move(msg_));
+        };
       // Create a publisher with a custom Quality of Service profile.
       rclcpp::QoS qos(rclcpp::KeepLast(7));
       pub_ = this->create_publisher<std_msgs::msg::String>(topic_name_, qos);

demo_nodes_cpp/src/topics/talker_serialized_message.cpp

@@ -15,6 +15,7 @@
 #include <iostream>
 #include <memory>
 #include <string>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 #include "rclcpp_components/register_node_macro.hpp"
@@ -49,7 +50,6 @@ class SerializedMessageTalker : public rclcpp::Node
       if (!tmptopic.empty()) {
         topic_name_ = tmptopic;
       }
-
       serialized_msg_ = rmw_get_zero_initialized_serialized_message();
       auto allocator = rcutils_get_default_allocator();
       auto initial_capacity = 0u;
@@ -85,8 +85,8 @@ class SerializedMessageTalker : public rclcpp::Node
           // necessary memory to hold all the data.
           // This is specifically interesting to do here, because this means
           // no dynamic memory allocation has to be done down the stack.
-          // If we don't allocate enough memory, the serialized message will be dynamically allocated
-          // before sending it to the wire.
+          // If we don't allocate enough memory, the serialized message will be
+          // dynamically allocated before sending it to the wire.
           auto message_header_length = 8u;
           auto message_payload_length = static_cast<size_t>(string_msg->data.size());
           auto ret = rmw_serialized_message_resize(

demo_nodes_cpp_native/CMakeLists.txt

@@ -27,7 +27,7 @@ ament_target_dependencies(talkerLib
   "std_msgs"
   "rclcpp_components"
   "rmw_fastrtps_cpp")
-rclcpp_components_register_node(talkerLib PLUGIN "demo_nodes_cpp_native::Talker" EXECUTABLE talker)
+rclcpp_components_register_node(talkerLib FLUSH_BUFFER PLUGIN "demo_nodes_cpp_native::Talker" EXECUTABLE talker)
 
 install(TARGETS
   talkerLib

image_tools/CMakeLists.txt

@@ -13,36 +13,35 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 
 find_package(OpenCV REQUIRED)
 
 include_directories(include)
 
-add_executable(cam2image
-  src/burger.cpp
+add_library(imagetools SHARED
   src/cam2image.cpp
+  src/showimage.cpp
   src/options.cpp
-)
-ament_target_dependencies(cam2image
+  src/burger.cpp)
+ament_target_dependencies(imagetools
   "rclcpp"
   "sensor_msgs"
-  "std_msgs"
+  "rclcpp_components"
   "OpenCV")
+rclcpp_components_register_node(imagetools FLUSH_BUFFER PLUGIN "image_tools::Cam2Image" EXECUTABLE cam2image)
+rclcpp_components_register_node(imagetools FLUSH_BUFFER PLUGIN "image_tools::ShowImage" EXECUTABLE showimage)
 
-add_executable(showimage
-  src/options.cpp
-  src/showimage.cpp
-)
-ament_target_dependencies(showimage
-  "rclcpp"
-  "sensor_msgs"
-  "std_msgs"
-  "OpenCV")
+install(TARGETS
+  imagetools
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
 
 install(TARGETS
-  cam2image
+  # cam2image
   showimage
   DESTINATION lib/${PROJECT_NAME})
 

image_tools/include/image_tools/options.hpp

@@ -51,7 +51,7 @@ std::string get_command_option(
  * \param[in] burger_mode If true, produce images of burgers rather than use a camera.
  */
 bool parse_command_options(
-  int argc, char ** argv, size_t * depth,
+  std::vector<std::string> args, size_t * depth,
   rmw_qos_reliability_policy_t * reliability_policy,
   rmw_qos_history_policy_t * history_policy, bool * show_camera = nullptr, double * freq = nullptr,
   size_t * width = nullptr, size_t * height = nullptr, bool * burger_mode = nullptr,

image_tools/package.xml

@@ -10,11 +10,13 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <build_depend>libopencv-dev</build_depend>
   <build_depend>rclcpp</build_depend>
+  <build_depend>rclcpp_components</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
 
   <exec_depend>libopencv-dev</exec_depend>
   <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rclcpp_components</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>std_msgs</exec_depend>