Add 'Cache (C++)' tutorial #196

EsipovPA · 2025-07-16T22:22:22Z

Description

Added a tutorial for Cache message filter class for C++ programming language.

fixes partially #130. Does not close the issue

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Additional Information

ahcorde

Thank you for working on the documentation

ahcorde · 2025-07-17T08:11:05Z

doc/Tutorials/Cache-Cpp.rst

+
+Prerequisites
+~~~~~~~~~~~~~
+This tutorial assumes you have a working knowledge of ROS 2


Suggested change

This tutorial assumes you have a working knowledge of ROS 2

This tutorial assumes you have a working knowledge of ROS 2.

ahcorde · 2025-07-17T08:11:12Z

doc/Tutorials/Cache-Cpp.rst

+If you have not done so already `create a workspace <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html>`_ and `create a package <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html>`_
+
+
+1. Create a Basic Node with Includes


Suggested change

If you have not done so already `create a workspace <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html>`_ and `create a package <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html>`_

1. Create a Basic Node with Includes

If you have not done so already `create a workspace <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html>`_ and `create a package <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html>`_

1. Create a Basic Node with Includes

ahcorde · 2025-07-17T08:11:21Z

doc/Tutorials/Cache-Cpp.rst

+1. Create a Basic Node with Includes
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+Let's assume, you've already created an empty ros package for C++.


Suggested change

Let's assume, you've already created an empty ros package for C++.

Let's assume, you've already created an empty ROS package for C++.

doc/Tutorials/Cache-Cpp.rst

ahcorde · 2025-07-17T08:14:23Z

doc/Tutorials/Cache-Cpp.rst

+  }
+
+
+2. Update package.xml


Suggested change

}

2. Update package.xml

}

2. Update package.xml

ahcorde · 2025-07-17T08:14:57Z

doc/Tutorials/Cache-Cpp.rst

+	install(TARGETS cache_tutorial
+  	DESTINATION lib/${PROJECT_NAME})


Suggested change

install(TARGETS cache_tutorial

DESTINATION lib/${PROJECT_NAME})

install(TARGETS cache_tutorial

DESTINATION lib/${PROJECT_NAME})

ahcorde · 2025-07-17T08:15:19Z

doc/Tutorials/Cache-Cpp.rst

+
+Now run the node using:
+
+.. code-block:: bash


Suggested change

.. code-block:: bash

.. code-block:: console

ahcorde · 2025-07-17T08:15:55Z

doc/Tutorials/Cache-Cpp.rst

+
+The first message in the output is going to be
+
+.. code-block:: bash


Suggested change

.. code-block:: bash

.. code-block:: console

ahcorde · 2025-07-17T08:16:00Z

doc/Tutorials/Cache-Cpp.rst

+As there were no messages published yet, and the cache is empty.
+After that, the publisher will start populate the cache with messages:
+
+.. code-block:: bash


Suggested change

.. code-block:: bash

.. code-block:: console

EsipovPA · 2025-07-17T10:17:49Z

Thanks for the review @ahcorde!
I've fixed the places, you've commented on.
Could you please have another look at this PR?
Thank you! :)

ahcorde · 2025-07-17T13:05:30Z

doc/Tutorials/Cache-Cpp.rst

+Cache (C++):
+---------------------------------------


Suggested change

Cache (C++):

---------------------------------------

Cache (C++):

------------

CursedRock17

Tutorial looks great! That being said I left a couple nitpicking things to cover. Thanks!

CursedRock17 · 2025-07-17T12:03:27Z

doc/Tutorials/Cache-Cpp.rst

+
+Next we define a tutorial class.
+In this case it is the ``CacheNode`` class.
+For starters, let's take a look at a ``private`` section of this class:


Suggested change

For starters, let's take a look at a ``private`` section of this class:

For starters, let's take a look at the ``private`` section of this class:

CursedRock17 · 2025-07-17T12:03:53Z

doc/Tutorials/Cache-Cpp.rst

+    }
+
+  private:
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;


Suggested change

rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;

rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;

CursedRock17 · 2025-07-17T12:06:21Z

doc/Tutorials/Cache-Cpp.rst

+  class CacheNode : public rclcpp::Node {
+  public:
+    CacheNode()
+    : Node("cahce_node")


Suggested change

: Node("cahce_node")

: Node("cache_node")

CursedRock17 · 2025-07-17T12:07:36Z

doc/Tutorials/Cache-Cpp.rst

+Overview
+~~~~~~~~
+
+This tutorial demonstrates how to use the ``message_filters.Cache`` class in ROS 2 using C++.


Suggested change

This tutorial demonstrates how to use the ``message_filters.Cache`` class in ROS 2 using C++.

This tutorial demonstrates how to use the ``message_filters::Cache`` class in ROS 2 using C++.

CursedRock17 · 2025-07-17T12:16:53Z

doc/Tutorials/Cache-Cpp.rst

+  using namespace std::chrono_literals;
+
+We start by including ``chrono`` and ``functional`` headers.
+The ``chrono`` header is required for ``chrono_literals`` namespace, and the ``functional`` header is required to use ``std::bind`` function to bind timer callbacks to timers.


Suggested change

The ``chrono`` header is required for ``chrono_literals`` namespace, and the ``functional`` header is required to use ``std::bind`` function to bind timer callbacks to timers.

The ``chrono`` header is required for the ``chrono_literals`` namespace, necessary for creating timers.

The ``functional`` header is also required to use ``std::bind`` function to bind timer callbacks to timers.

doc/Tutorials/Cache-Cpp.rst

EsipovPA · 2025-07-18T21:15:35Z

Thank you for the review @CursedRock17! I've fixed the places in the code, you've pointed to. May I ask you to have another look at this PR, when it is possible?

Signed-off-by: EsipovPA <esipov.p@mail.ru>

CursedRock17

LGTM

ahcorde · 2025-07-21T07:35:51Z

This is documentation, merging!

ahcorde · 2025-07-21T07:36:27Z

https://github.com/Mergifyio backport kilted jazzy humble

mergify · 2025-07-21T07:36:32Z

backport kilted jazzy humble

✅ Backports have been created

#197 Add 'Cache (C++)' tutorial (backport #196) has been created for branch kilted
#198 Add 'Cache (C++)' tutorial (backport #196) has been created for branch jazzy
#199 Add 'Cache (C++)' tutorial (backport #196) has been created for branch humble

Signed-off-by: EsipovPA <esipov.p@mail.ru> (cherry picked from commit c7821ef)

(cherry picked from commit c7821ef) Signed-off-by: EsipovPA <esipov.p@mail.ru> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>

EsipovPA mentioned this pull request Jul 16, 2025

Extend Tutorials Section #130

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ahcorde requested changes Jul 17, 2025

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EsipovPA force-pushed the add-cache-cpp-tutorial branch from 6d5669a to e4a1d0d Compare July 17, 2025 10:14

EsipovPA requested a review from ahcorde July 17, 2025 12:20

ahcorde requested changes Jul 17, 2025

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CursedRock17 suggested changes Jul 17, 2025

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EsipovPA force-pushed the add-cache-cpp-tutorial branch from e4a1d0d to 55b991d Compare July 18, 2025 21:13

EsipovPA requested review from CursedRock17 and ahcorde July 18, 2025 21:15

EsipovPA added 2 commits July 19, 2025 00:16

Add 'Cache (C++)' tutorial

94f7fa5

Signed-off-by: EsipovPA <esipov.p@mail.ru>

Fix Cache (Python) typo

7318016

Signed-off-by: EsipovPA <esipov.p@mail.ru>

EsipovPA force-pushed the add-cache-cpp-tutorial branch from 55b991d to 7318016 Compare July 18, 2025 21:16

CursedRock17 approved these changes Jul 19, 2025

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ahcorde approved these changes Jul 21, 2025

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ahcorde merged commit c7821ef into ros2:rolling Jul 21, 2025
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mergify bot pushed a commit that referenced this pull request Jul 21, 2025

Add 'Cache (C++)' tutorial (#196)

c87cc2e

Signed-off-by: EsipovPA <esipov.p@mail.ru> (cherry picked from commit c7821ef)

mergify bot pushed a commit that referenced this pull request Jul 21, 2025

Add 'Cache (C++)' tutorial (#196)

fd99213

Signed-off-by: EsipovPA <esipov.p@mail.ru> (cherry picked from commit c7821ef)

This was referenced Jul 21, 2025

Add 'Cache (C++)' tutorial (backport #196) #197

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Add 'Cache (C++)' tutorial (backport #196) #198

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mergify bot pushed a commit that referenced this pull request Jul 21, 2025

Add 'Cache (C++)' tutorial (#196)

0d73a3f

Signed-off-by: EsipovPA <esipov.p@mail.ru> (cherry picked from commit c7821ef)

mergify bot mentioned this pull request Jul 21, 2025

Add 'Cache (C++)' tutorial (backport #196) #199

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ahcorde pushed a commit that referenced this pull request Jul 21, 2025

Add 'Cache (C++)' tutorial (#196) (#197)

e5b7ba6

(cherry picked from commit c7821ef) Signed-off-by: EsipovPA <esipov.p@mail.ru> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>

ahcorde pushed a commit that referenced this pull request Jul 21, 2025

Add 'Cache (C++)' tutorial (#196) (#198)

e12d4e7

(cherry picked from commit c7821ef) Signed-off-by: EsipovPA <esipov.p@mail.ru> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>

ahcorde pushed a commit that referenced this pull request Jul 21, 2025

Add 'Cache (C++)' tutorial (#196) (#199)

85eef88

(cherry picked from commit c7821ef) Signed-off-by: EsipovPA <esipov.p@mail.ru> Co-authored-by: Pavel Esipov <38457822+EsipovPA@users.noreply.github.com>

	This tutorial assumes you have a working knowledge of ROS 2
	This tutorial assumes you have a working knowledge of ROS 2.

		If you have not done so already `create a workspace <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html>`_ and `create a package <https://docs.ros.org/en/rolling/Tutorials/Beginner-Client-Libraries/Creating-Your-First-ROS2-Package.html>`_


		1. Create a Basic Node with Includes

	Let's assume, you've already created an empty ros package for C++.
	Let's assume, you've already created an empty ROS package for C++.

		install(TARGETS cache_tutorial
		DESTINATION lib/${PROJECT_NAME})


		The first message in the output is going to be

		.. code-block:: bash

	For starters, let's take a look at a ``private`` section of this class:
	For starters, let's take a look at the ``private`` section of this class:

	rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
	rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;

	This tutorial demonstrates how to use the ``message_filters.Cache`` class in ROS 2 using C++.
	This tutorial demonstrates how to use the ``message_filters::Cache`` class in ROS 2 using C++.

	The ``chrono`` header is required for ``chrono_literals`` namespace, and the ``functional`` header is required to use ``std::bind`` function to bind timer callbacks to timers.
	The ``chrono`` header is required for the ``chrono_literals`` namespace, necessary for creating timers.
	The ``functional`` header is also required to use ``std::bind`` function to bind timer callbacks to timers.

Add 'Cache (C++)' tutorial #196

Add 'Cache (C++)' tutorial #196

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EsipovPA commented Jul 16, 2025

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EsipovPA commented Jul 17, 2025 • edited Loading Uh oh! There was an error while loading. Please reload this page.

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EsipovPA commented Jul 18, 2025

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