diff --git a/launch_testing/launch_testing_examples/launch_testing_examples/check_msgs_launch_test.py b/launch_testing/launch_testing_examples/launch_testing_examples/check_msgs_launch_test.py index 03399c5e..28a10e86 100644 --- a/launch_testing/launch_testing_examples/launch_testing_examples/check_msgs_launch_test.py +++ b/launch_testing/launch_testing_examples/launch_testing_examples/check_msgs_launch_test.py @@ -14,6 +14,7 @@ import unittest +from example_interfaces.msg import String import launch import launch.actions import launch_ros.actions @@ -21,7 +22,6 @@ import launch_testing.markers from launch_testing_ros import WaitForTopics import pytest -from std_msgs.msg import String @pytest.mark.launch_test diff --git a/launch_testing/launch_testing_examples/package.xml b/launch_testing/launch_testing_examples/package.xml index 2b27b6fc..c64ba0fa 100644 --- a/launch_testing/launch_testing_examples/package.xml +++ b/launch_testing/launch_testing_examples/package.xml @@ -22,7 +22,7 @@ rclpy rcl_interfaces ros2bag - std_msgs + example_interfaces ament_copyright ament_flake8 diff --git a/rclcpp/composition/minimal_composition/CMakeLists.txt b/rclcpp/composition/minimal_composition/CMakeLists.txt index 849f1020..640dac2d 100644 --- a/rclcpp/composition/minimal_composition/CMakeLists.txt +++ b/rclcpp/composition/minimal_composition/CMakeLists.txt @@ -14,7 +14,7 @@ endif() find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_components REQUIRED) -find_package(std_msgs REQUIRED) +find_package(example_interfaces REQUIRED) include_directories(include) @@ -23,7 +23,7 @@ add_library(composition_nodes SHARED src/subscriber_node.cpp) target_compile_definitions(composition_nodes PRIVATE "MINIMAL_COMPOSITION_DLL") -ament_target_dependencies(composition_nodes rclcpp rclcpp_components std_msgs) +ament_target_dependencies(composition_nodes rclcpp rclcpp_components example_interfaces) # This package installs libraries without exporting them. # Export the library path to ensure that the installed libraries are available. diff --git a/rclcpp/composition/minimal_composition/include/minimal_composition/publisher_node.hpp b/rclcpp/composition/minimal_composition/include/minimal_composition/publisher_node.hpp index 95c29c4d..894f3312 100644 --- a/rclcpp/composition/minimal_composition/include/minimal_composition/publisher_node.hpp +++ b/rclcpp/composition/minimal_composition/include/minimal_composition/publisher_node.hpp @@ -16,7 +16,7 @@ #define MINIMAL_COMPOSITION__PUBLISHER_NODE_HPP_ #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" #include "minimal_composition/visibility.h" class PublisherNode : public rclcpp::Node @@ -27,7 +27,7 @@ class PublisherNode : public rclcpp::Node private: void on_timer(); size_t count_; - rclcpp::Publisher::SharedPtr publisher_; + rclcpp::Publisher::SharedPtr publisher_; rclcpp::TimerBase::SharedPtr timer_; }; diff --git a/rclcpp/composition/minimal_composition/include/minimal_composition/subscriber_node.hpp b/rclcpp/composition/minimal_composition/include/minimal_composition/subscriber_node.hpp index e5215297..d3c9d2c4 100644 --- a/rclcpp/composition/minimal_composition/include/minimal_composition/subscriber_node.hpp +++ b/rclcpp/composition/minimal_composition/include/minimal_composition/subscriber_node.hpp @@ -16,7 +16,7 @@ #define MINIMAL_COMPOSITION__SUBSCRIBER_NODE_HPP_ #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" #include "minimal_composition/visibility.h" class SubscriberNode : public rclcpp::Node @@ -25,7 +25,7 @@ class SubscriberNode : public rclcpp::Node MINIMAL_COMPOSITION_PUBLIC SubscriberNode(rclcpp::NodeOptions options); private: - rclcpp::Subscription::SharedPtr subscription_; + rclcpp::Subscription::SharedPtr subscription_; }; #endif // MINIMAL_COMPOSITION__SUBSCRIBER_NODE_HPP_ diff --git a/rclcpp/composition/minimal_composition/package.xml b/rclcpp/composition/minimal_composition/package.xml index 1cad0336..6da024e6 100644 --- a/rclcpp/composition/minimal_composition/package.xml +++ b/rclcpp/composition/minimal_composition/package.xml @@ -20,11 +20,11 @@ rclcpp rclcpp_components - std_msgs + example_interfaces rclcpp rclcpp_components - std_msgs + example_interfaces ament_lint_auto ament_lint_common diff --git a/rclcpp/composition/minimal_composition/src/publisher_node.cpp b/rclcpp/composition/minimal_composition/src/publisher_node.cpp index b21917a2..1c1847d9 100644 --- a/rclcpp/composition/minimal_composition/src/publisher_node.cpp +++ b/rclcpp/composition/minimal_composition/src/publisher_node.cpp @@ -16,21 +16,21 @@ #include "minimal_composition/publisher_node.hpp" #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using namespace std::chrono_literals; PublisherNode::PublisherNode(rclcpp::NodeOptions options) : Node("publisher_node", options), count_(0) { - publisher_ = create_publisher("topic", 10); + publisher_ = create_publisher("topic", 10); timer_ = create_wall_timer( 500ms, std::bind(&PublisherNode::on_timer, this)); } void PublisherNode::on_timer() { - auto message = std_msgs::msg::String(); + auto message = example_interfaces::msg::String(); message.data = "Hello, world! " + std::to_string(count_++); RCLCPP_INFO(this->get_logger(), "Publisher: '%s'", message.data.c_str()); publisher_->publish(message); diff --git a/rclcpp/composition/minimal_composition/src/subscriber_node.cpp b/rclcpp/composition/minimal_composition/src/subscriber_node.cpp index 0f5e32cf..022c6ffa 100644 --- a/rclcpp/composition/minimal_composition/src/subscriber_node.cpp +++ b/rclcpp/composition/minimal_composition/src/subscriber_node.cpp @@ -14,15 +14,15 @@ #include "minimal_composition/subscriber_node.hpp" #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" SubscriberNode::SubscriberNode(rclcpp::NodeOptions options) : Node("subscriber_node", options) { - subscription_ = create_subscription( + subscription_ = create_subscription( "topic", 10, - [this](std_msgs::msg::String::UniquePtr msg) { + [this](example_interfaces::msg::String::UniquePtr msg) { RCLCPP_INFO(this->get_logger(), "Subscriber: '%s'", msg->data.c_str()); }); } diff --git a/rclcpp/executors/cbg_executor/CMakeLists.txt b/rclcpp/executors/cbg_executor/CMakeLists.txt index 57157b26..527c5fc3 100644 --- a/rclcpp/executors/cbg_executor/CMakeLists.txt +++ b/rclcpp/executors/cbg_executor/CMakeLists.txt @@ -13,7 +13,7 @@ endif() find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) -find_package(std_msgs REQUIRED) +find_package(example_interfaces REQUIRED) add_executable( ping @@ -21,7 +21,7 @@ add_executable( src/examples_rclcpp_cbg_executor/ping_node.cpp ) target_include_directories(ping PUBLIC include) -ament_target_dependencies(ping rclcpp std_msgs) +ament_target_dependencies(ping rclcpp example_interfaces) add_executable( pong @@ -29,7 +29,7 @@ add_executable( src/examples_rclcpp_cbg_executor/pong_node.cpp ) target_include_directories(pong PUBLIC include) -ament_target_dependencies(pong rclcpp std_msgs) +ament_target_dependencies(pong rclcpp example_interfaces) add_executable( ping_pong @@ -38,7 +38,7 @@ add_executable( src/examples_rclcpp_cbg_executor/pong_node.cpp ) target_include_directories(ping_pong PUBLIC include) -ament_target_dependencies(ping_pong rclcpp std_msgs) +ament_target_dependencies(ping_pong rclcpp example_interfaces) install(TARGETS ping pong ping_pong DESTINATION lib/${PROJECT_NAME} @@ -52,5 +52,5 @@ if(BUILD_TESTING) ament_lint_auto_find_test_dependencies() endif() -ament_export_dependencies(rclcpp std_msgs) +ament_export_dependencies(rclcpp example_interfaces) ament_package() diff --git a/rclcpp/executors/cbg_executor/include/examples_rclcpp_cbg_executor/ping_node.hpp b/rclcpp/executors/cbg_executor/include/examples_rclcpp_cbg_executor/ping_node.hpp index c8ec52e4..f2507eb1 100644 --- a/rclcpp/executors/cbg_executor/include/examples_rclcpp_cbg_executor/ping_node.hpp +++ b/rclcpp/executors/cbg_executor/include/examples_rclcpp_cbg_executor/ping_node.hpp @@ -22,7 +22,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/int32.hpp" +#include "example_interfaces/msg/int32.hpp" namespace examples_rclcpp_cbg_executor { @@ -47,15 +47,15 @@ class PingNode : public rclcpp::Node private: rclcpp::TimerBase::SharedPtr ping_timer_; - rclcpp::Publisher::SharedPtr high_ping_publisher_; - rclcpp::Publisher::SharedPtr low_ping_publisher_; + rclcpp::Publisher::SharedPtr high_ping_publisher_; + rclcpp::Publisher::SharedPtr low_ping_publisher_; void send_ping(); - rclcpp::Subscription::SharedPtr high_pong_subscription_; - void high_pong_received(const std_msgs::msg::Int32::ConstSharedPtr msg); + rclcpp::Subscription::SharedPtr high_pong_subscription_; + void high_pong_received(const example_interfaces::msg::Int32::ConstSharedPtr msg); - rclcpp::Subscription::SharedPtr low_pong_subscription_; - void low_pong_received(const std_msgs::msg::Int32::ConstSharedPtr msg); + rclcpp::Subscription::SharedPtr low_pong_subscription_; + void low_pong_received(const example_interfaces::msg::Int32::ConstSharedPtr msg); std::vector rtt_data_; }; diff --git a/rclcpp/executors/cbg_executor/include/examples_rclcpp_cbg_executor/pong_node.hpp b/rclcpp/executors/cbg_executor/include/examples_rclcpp_cbg_executor/pong_node.hpp index 7c02628f..a49e3922 100644 --- a/rclcpp/executors/cbg_executor/include/examples_rclcpp_cbg_executor/pong_node.hpp +++ b/rclcpp/executors/cbg_executor/include/examples_rclcpp_cbg_executor/pong_node.hpp @@ -20,7 +20,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/int32.hpp" +#include "example_interfaces/msg/int32.hpp" namespace examples_rclcpp_cbg_executor { @@ -39,13 +39,13 @@ class PongNode : public rclcpp::Node private: rclcpp::CallbackGroup::SharedPtr low_prio_callback_group_; - rclcpp::Subscription::SharedPtr high_ping_subscription_; - rclcpp::Publisher::SharedPtr high_pong_publisher_; - void high_ping_received(const std_msgs::msg::Int32::ConstSharedPtr msg); + rclcpp::Subscription::SharedPtr high_ping_subscription_; + rclcpp::Publisher::SharedPtr high_pong_publisher_; + void high_ping_received(const example_interfaces::msg::Int32::ConstSharedPtr msg); - rclcpp::Subscription::SharedPtr low_ping_subscription_; - rclcpp::Publisher::SharedPtr low_pong_publisher_; - void low_ping_received(const std_msgs::msg::Int32::ConstSharedPtr msg); + rclcpp::Subscription::SharedPtr low_ping_subscription_; + rclcpp::Publisher::SharedPtr low_pong_publisher_; + void low_ping_received(const example_interfaces::msg::Int32::ConstSharedPtr msg); static void burn_cpu_cycles(std::chrono::nanoseconds duration); }; diff --git a/rclcpp/executors/cbg_executor/package.xml b/rclcpp/executors/cbg_executor/package.xml index 5664839f..fdcd4a18 100644 --- a/rclcpp/executors/cbg_executor/package.xml +++ b/rclcpp/executors/cbg_executor/package.xml @@ -15,7 +15,7 @@ ament_cmake rclcpp - std_msgs + example_interfaces ament_lint_auto ament_lint_common diff --git a/rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/ping_node.cpp b/rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/ping_node.cpp index 4b65cb73..08839d70 100644 --- a/rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/ping_node.cpp +++ b/rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/ping_node.cpp @@ -28,7 +28,7 @@ PingNode::PingNode() : rclcpp::Node("ping_node") { using std::placeholders::_1; - using std_msgs::msg::Int32; + using example_interfaces::msg::Int32; this->declare_parameter("ping_period", 0.01); std::chrono::nanoseconds ping_period = get_nanos_from_secs_parameter(this, "ping_period"); @@ -45,19 +45,19 @@ PingNode::PingNode() void PingNode::send_ping() { - std_msgs::msg::Int32 msg; + example_interfaces::msg::Int32 msg; msg.data = static_cast(rtt_data_.size()); rtt_data_.push_back(RTTData(now())); high_ping_publisher_->publish(msg); low_ping_publisher_->publish(msg); } -void PingNode::high_pong_received(const std_msgs::msg::Int32::ConstSharedPtr msg) +void PingNode::high_pong_received(const example_interfaces::msg::Int32::ConstSharedPtr msg) { rtt_data_[msg->data].high_received_ = now(); } -void PingNode::low_pong_received(const std_msgs::msg::Int32::ConstSharedPtr msg) +void PingNode::low_pong_received(const example_interfaces::msg::Int32::ConstSharedPtr msg) { rtt_data_[msg->data].low_received_ = now(); } diff --git a/rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/pong_node.cpp b/rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/pong_node.cpp index 234ba13d..d1228af2 100644 --- a/rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/pong_node.cpp +++ b/rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/pong_node.cpp @@ -28,7 +28,7 @@ PongNode::PongNode() : rclcpp::Node("pong_node") { using std::placeholders::_1; - using std_msgs::msg::Int32; + using example_interfaces::msg::Int32; declare_parameter("high_busyloop", 0.01); high_pong_publisher_ = this->create_publisher("high_pong", rclcpp::SensorDataQoS()); @@ -58,14 +58,14 @@ rclcpp::CallbackGroup::SharedPtr PongNode::get_low_prio_callback_group() return low_prio_callback_group_; // the second callback group created in the ctor. } -void PongNode::high_ping_received(const std_msgs::msg::Int32::ConstSharedPtr msg) +void PongNode::high_ping_received(const example_interfaces::msg::Int32::ConstSharedPtr msg) { std::chrono::nanoseconds busyloop = get_nanos_from_secs_parameter(this, "high_busyloop"); burn_cpu_cycles(busyloop); high_pong_publisher_->publish(*msg); } -void PongNode::low_ping_received(const std_msgs::msg::Int32::ConstSharedPtr msg) +void PongNode::low_ping_received(const example_interfaces::msg::Int32::ConstSharedPtr msg) { std::chrono::nanoseconds busyloop = get_nanos_from_secs_parameter(this, "low_busyloop"); burn_cpu_cycles(busyloop); diff --git a/rclcpp/executors/multithreaded_executor/CMakeLists.txt b/rclcpp/executors/multithreaded_executor/CMakeLists.txt index b6a6de45..5c336021 100644 --- a/rclcpp/executors/multithreaded_executor/CMakeLists.txt +++ b/rclcpp/executors/multithreaded_executor/CMakeLists.txt @@ -13,10 +13,10 @@ endif() find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) -find_package(std_msgs REQUIRED) +find_package(example_interfaces REQUIRED) add_executable(multithreaded_executor multithreaded_executor.cpp) -ament_target_dependencies(multithreaded_executor rclcpp std_msgs) +ament_target_dependencies(multithreaded_executor rclcpp example_interfaces) install(TARGETS multithreaded_executor diff --git a/rclcpp/executors/multithreaded_executor/multithreaded_executor.cpp b/rclcpp/executors/multithreaded_executor/multithreaded_executor.cpp index 2414dc32..0cc14224 100644 --- a/rclcpp/executors/multithreaded_executor/multithreaded_executor.cpp +++ b/rclcpp/executors/multithreaded_executor/multithreaded_executor.cpp @@ -18,7 +18,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using namespace std::chrono_literals; @@ -42,10 +42,10 @@ class PublisherNode : public rclcpp::Node PublisherNode() : Node("PublisherNode"), count_(0) { - publisher_ = this->create_publisher("topic", 10); + publisher_ = this->create_publisher("topic", 10); auto timer_callback = [this]() -> void { - auto message = std_msgs::msg::String(); + auto message = example_interfaces::msg::String(); message.data = "Hello World! " + std::to_string(this->count_++); // Extract current thread @@ -62,7 +62,7 @@ class PublisherNode : public rclcpp::Node private: rclcpp::TimerBase::SharedPtr timer_; - rclcpp::Publisher::SharedPtr publisher_; + rclcpp::Publisher::SharedPtr publisher_; size_t count_; }; @@ -88,7 +88,7 @@ class DualThreadedNode : public rclcpp::Node auto sub2_opt = rclcpp::SubscriptionOptions(); sub2_opt.callback_group = callback_group_subscriber2_; - subscription1_ = this->create_subscription( + subscription1_ = this->create_subscription( "topic", rclcpp::QoS(10), // std::bind is sort of C++'s way of passing a function @@ -104,7 +104,7 @@ class DualThreadedNode : public rclcpp::Node sub1_opt); // This is where we set the callback group. // This subscription will run with callback group subscriber1 - subscription2_ = this->create_subscription( + subscription2_ = this->create_subscription( "topic", rclcpp::QoS(10), std::bind( @@ -129,7 +129,7 @@ class DualThreadedNode : public rclcpp::Node * Every time the Publisher publishes something, all subscribers to the topic get poked * This function gets called when Subscriber1 is poked (due to the std::bind we used when defining it) */ - void subscriber1_cb(const std_msgs::msg::String::ConstSharedPtr msg) + void subscriber1_cb(const example_interfaces::msg::String::ConstSharedPtr msg) { auto message_received_at = timing_string(); @@ -143,7 +143,7 @@ class DualThreadedNode : public rclcpp::Node * This function gets called when Subscriber2 is poked * Since it's running on a separate thread than Subscriber 1, it will run at (more-or-less) the same time! */ - void subscriber2_cb(const std_msgs::msg::String::ConstSharedPtr msg) + void subscriber2_cb(const example_interfaces::msg::String::ConstSharedPtr msg) { auto message_received_at = timing_string(); @@ -155,8 +155,8 @@ class DualThreadedNode : public rclcpp::Node rclcpp::CallbackGroup::SharedPtr callback_group_subscriber1_; rclcpp::CallbackGroup::SharedPtr callback_group_subscriber2_; - rclcpp::Subscription::SharedPtr subscription1_; - rclcpp::Subscription::SharedPtr subscription2_; + rclcpp::Subscription::SharedPtr subscription1_; + rclcpp::Subscription::SharedPtr subscription2_; }; int main(int argc, char * argv[]) diff --git a/rclcpp/executors/multithreaded_executor/package.xml b/rclcpp/executors/multithreaded_executor/package.xml index 0c9b55f2..08c49f77 100644 --- a/rclcpp/executors/multithreaded_executor/package.xml +++ b/rclcpp/executors/multithreaded_executor/package.xml @@ -16,10 +16,10 @@ ament_cmake rclcpp - std_msgs + example_interfaces rclcpp - std_msgs + example_interfaces ament_lint_auto ament_lint_common diff --git a/rclcpp/topics/minimal_publisher/CMakeLists.txt b/rclcpp/topics/minimal_publisher/CMakeLists.txt index d013600e..24b0b6ee 100644 --- a/rclcpp/topics/minimal_publisher/CMakeLists.txt +++ b/rclcpp/topics/minimal_publisher/CMakeLists.txt @@ -13,25 +13,25 @@ endif() find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) -find_package(std_msgs REQUIRED) +find_package(example_interfaces REQUIRED) add_executable(publisher_lambda lambda.cpp) -ament_target_dependencies(publisher_lambda rclcpp std_msgs) +ament_target_dependencies(publisher_lambda rclcpp example_interfaces) add_executable(publisher_member_function member_function.cpp) -ament_target_dependencies(publisher_member_function rclcpp std_msgs) +ament_target_dependencies(publisher_member_function rclcpp example_interfaces) add_executable(publisher_member_function_with_type_adapter member_function_with_type_adapter.cpp) -ament_target_dependencies(publisher_member_function_with_type_adapter rclcpp std_msgs) +ament_target_dependencies(publisher_member_function_with_type_adapter rclcpp example_interfaces) add_executable(publisher_member_function_with_unique_network_flow_endpoints member_function_with_unique_network_flow_endpoints.cpp) -ament_target_dependencies(publisher_member_function_with_unique_network_flow_endpoints rclcpp std_msgs) +ament_target_dependencies(publisher_member_function_with_unique_network_flow_endpoints rclcpp example_interfaces) add_executable(publisher_wait_for_all_acked member_function_with_wait_for_all_acked.cpp) -ament_target_dependencies(publisher_wait_for_all_acked rclcpp std_msgs) +ament_target_dependencies(publisher_wait_for_all_acked rclcpp example_interfaces) add_executable(publisher_not_composable not_composable.cpp) -ament_target_dependencies(publisher_not_composable rclcpp std_msgs) +ament_target_dependencies(publisher_not_composable rclcpp example_interfaces) install(TARGETS publisher_lambda diff --git a/rclcpp/topics/minimal_publisher/lambda.cpp b/rclcpp/topics/minimal_publisher/lambda.cpp index 324eb96e..c5da74a4 100644 --- a/rclcpp/topics/minimal_publisher/lambda.cpp +++ b/rclcpp/topics/minimal_publisher/lambda.cpp @@ -17,7 +17,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using namespace std::chrono_literals; @@ -31,10 +31,10 @@ class MinimalPublisher : public rclcpp::Node MinimalPublisher() : Node("minimal_publisher"), count_(0) { - publisher_ = this->create_publisher("topic", 10); + publisher_ = this->create_publisher("topic", 10); auto timer_callback = [this]() -> void { - auto message = std_msgs::msg::String(); + auto message = example_interfaces::msg::String(); message.data = "Hello, world! " + std::to_string(this->count_++); RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str()); this->publisher_->publish(message); @@ -44,7 +44,7 @@ class MinimalPublisher : public rclcpp::Node private: rclcpp::TimerBase::SharedPtr timer_; - rclcpp::Publisher::SharedPtr publisher_; + rclcpp::Publisher::SharedPtr publisher_; size_t count_; }; diff --git a/rclcpp/topics/minimal_publisher/member_function.cpp b/rclcpp/topics/minimal_publisher/member_function.cpp index b211a5eb..d7929b7c 100644 --- a/rclcpp/topics/minimal_publisher/member_function.cpp +++ b/rclcpp/topics/minimal_publisher/member_function.cpp @@ -18,7 +18,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using namespace std::chrono_literals; @@ -31,7 +31,7 @@ class MinimalPublisher : public rclcpp::Node MinimalPublisher() : Node("minimal_publisher"), count_(0) { - publisher_ = this->create_publisher("topic", 10); + publisher_ = this->create_publisher("topic", 10); timer_ = this->create_wall_timer( 500ms, std::bind(&MinimalPublisher::timer_callback, this)); } @@ -39,13 +39,13 @@ class MinimalPublisher : public rclcpp::Node private: void timer_callback() { - auto message = std_msgs::msg::String(); + auto message = example_interfaces::msg::String(); message.data = "Hello, world! " + std::to_string(count_++); RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str()); publisher_->publish(message); } rclcpp::TimerBase::SharedPtr timer_; - rclcpp::Publisher::SharedPtr publisher_; + rclcpp::Publisher::SharedPtr publisher_; size_t count_; }; diff --git a/rclcpp/topics/minimal_publisher/member_function_with_type_adapter.cpp b/rclcpp/topics/minimal_publisher/member_function_with_type_adapter.cpp index 39c1007a..07d085d8 100644 --- a/rclcpp/topics/minimal_publisher/member_function_with_type_adapter.cpp +++ b/rclcpp/topics/minimal_publisher/member_function_with_type_adapter.cpp @@ -20,7 +20,7 @@ #include "rclcpp/type_adapter.hpp" #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using namespace std::chrono_literals; @@ -30,11 +30,11 @@ using namespace std::chrono_literals; * more "self-contained". */ template<> -struct rclcpp::TypeAdapter +struct rclcpp::TypeAdapter { using is_specialized = std::true_type; using custom_type = std::string; - using ros_message_type = std_msgs::msg::String; + using ros_message_type = example_interfaces::msg::String; static void @@ -56,13 +56,13 @@ struct rclcpp::TypeAdapter }; /* In this example, a publisher uses a type adapter to use a `std::string` - * in place of a `std_msgs::msg::String` in the argument expected by + * in place of a `example_interfaces::msg::String` in the argument expected by * the publish method. Note that publish will also work with a - * `std_msgs::msg::String` argument. */ + * `example_interfaces::msg::String` argument. */ class MinimalPublisher : public rclcpp::Node { - using MyAdaptedType = rclcpp::TypeAdapter; + using MyAdaptedType = rclcpp::TypeAdapter; public: MinimalPublisher() diff --git a/rclcpp/topics/minimal_publisher/member_function_with_unique_network_flow_endpoints.cpp b/rclcpp/topics/minimal_publisher/member_function_with_unique_network_flow_endpoints.cpp index 71437e9e..d685736d 100644 --- a/rclcpp/topics/minimal_publisher/member_function_with_unique_network_flow_endpoints.cpp +++ b/rclcpp/topics/minimal_publisher/member_function_with_unique_network_flow_endpoints.cpp @@ -21,7 +21,7 @@ #include "rclcpp/rclcpp.hpp" #include "rclcpp/publisher_options.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using namespace std::chrono_literals; @@ -36,13 +36,14 @@ class MinimalPublisherWithUniqueNetworkFlowEndpoints : public rclcpp::Node auto options_1 = rclcpp::PublisherOptions(); options_1.require_unique_network_flow_endpoints = RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_OPTIONALLY_REQUIRED; - publisher_1_ = this->create_publisher("topic_1", 10, options_1); + publisher_1_ = + this->create_publisher("topic_1", 10, options_1); timer_1_ = this->create_wall_timer( 500ms, std::bind(&MinimalPublisherWithUniqueNetworkFlowEndpoints::timer_1_callback, this)); // Create publisher without unique network flow endpoints // Unique network flow endpoints are disabled in default options - publisher_2_ = this->create_publisher("topic_2", 10); + publisher_2_ = this->create_publisher("topic_2", 10); timer_2_ = this->create_wall_timer( 1000ms, std::bind(&MinimalPublisherWithUniqueNetworkFlowEndpoints::timer_2_callback, this)); @@ -64,7 +65,7 @@ class MinimalPublisherWithUniqueNetworkFlowEndpoints : public rclcpp::Node private: void timer_1_callback() { - auto message = std_msgs::msg::String(); + auto message = example_interfaces::msg::String(); message.data = "Hello, world! " + std::to_string(count_1_++); RCLCPP_INFO( @@ -73,7 +74,7 @@ class MinimalPublisherWithUniqueNetworkFlowEndpoints : public rclcpp::Node } void timer_2_callback() { - auto message = std_msgs::msg::String(); + auto message = example_interfaces::msg::String(); message.data = "Hej, världen! " + std::to_string(count_2_++); RCLCPP_INFO( @@ -102,8 +103,8 @@ class MinimalPublisherWithUniqueNetworkFlowEndpoints : public rclcpp::Node } rclcpp::TimerBase::SharedPtr timer_1_; rclcpp::TimerBase::SharedPtr timer_2_; - rclcpp::Publisher::SharedPtr publisher_1_; - rclcpp::Publisher::SharedPtr publisher_2_; + rclcpp::Publisher::SharedPtr publisher_1_; + rclcpp::Publisher::SharedPtr publisher_2_; size_t count_1_; size_t count_2_; }; diff --git a/rclcpp/topics/minimal_publisher/member_function_with_wait_for_all_acked.cpp b/rclcpp/topics/minimal_publisher/member_function_with_wait_for_all_acked.cpp index bf5a5c92..6a67c396 100644 --- a/rclcpp/topics/minimal_publisher/member_function_with_wait_for_all_acked.cpp +++ b/rclcpp/topics/minimal_publisher/member_function_with_wait_for_all_acked.cpp @@ -18,7 +18,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using namespace std::chrono_literals; @@ -33,7 +33,7 @@ class MinimalPublisher : public rclcpp::Node wait_timeout_(300) { // publisher must set reliable mode - publisher_ = this->create_publisher( + publisher_ = this->create_publisher( "topic", rclcpp::QoS(10).reliable()); @@ -68,7 +68,7 @@ class MinimalPublisher : public rclcpp::Node void timer_callback() { - auto message = std_msgs::msg::String(); + auto message = example_interfaces::msg::String(); message.data = "Hello, world! " + std::to_string(count_++); RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str()); publisher_->publish(message); @@ -77,7 +77,7 @@ class MinimalPublisher : public rclcpp::Node // acknowledge messages. } rclcpp::TimerBase::SharedPtr timer_; - rclcpp::Publisher::SharedPtr publisher_; + rclcpp::Publisher::SharedPtr publisher_; size_t count_; std::chrono::milliseconds wait_timeout_; }; diff --git a/rclcpp/topics/minimal_publisher/not_composable.cpp b/rclcpp/topics/minimal_publisher/not_composable.cpp index cd565a7d..ea4eeca4 100644 --- a/rclcpp/topics/minimal_publisher/not_composable.cpp +++ b/rclcpp/topics/minimal_publisher/not_composable.cpp @@ -16,7 +16,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using namespace std::chrono_literals; @@ -29,8 +29,8 @@ int main(int argc, char * argv[]) { rclcpp::init(argc, argv); auto node = rclcpp::Node::make_shared("minimal_publisher"); - auto publisher = node->create_publisher("topic", 10); - std_msgs::msg::String message; + auto publisher = node->create_publisher("topic", 10); + example_interfaces::msg::String message; auto publish_count = 0; rclcpp::WallRate loop_rate(500ms); diff --git a/rclcpp/topics/minimal_publisher/package.xml b/rclcpp/topics/minimal_publisher/package.xml index ec0fe1ad..eafbbc0b 100644 --- a/rclcpp/topics/minimal_publisher/package.xml +++ b/rclcpp/topics/minimal_publisher/package.xml @@ -18,10 +18,10 @@ ament_cmake rclcpp - std_msgs + example_interfaces rclcpp - std_msgs + example_interfaces ament_lint_auto ament_lint_common diff --git a/rclcpp/topics/minimal_subscriber/CMakeLists.txt b/rclcpp/topics/minimal_subscriber/CMakeLists.txt index 125b51ad..e9c9fcb9 100644 --- a/rclcpp/topics/minimal_subscriber/CMakeLists.txt +++ b/rclcpp/topics/minimal_subscriber/CMakeLists.txt @@ -14,34 +14,34 @@ endif() find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_components REQUIRED) -find_package(std_msgs REQUIRED) +find_package(example_interfaces REQUIRED) add_executable(subscriber_lambda lambda.cpp) -ament_target_dependencies(subscriber_lambda rclcpp std_msgs) +ament_target_dependencies(subscriber_lambda rclcpp example_interfaces) add_executable(subscriber_member_function member_function.cpp) -ament_target_dependencies(subscriber_member_function rclcpp std_msgs) +ament_target_dependencies(subscriber_member_function rclcpp example_interfaces) add_executable(subscriber_member_function_with_topic_statistics member_function_with_topic_statistics.cpp) -ament_target_dependencies(subscriber_member_function_with_topic_statistics rclcpp std_msgs) +ament_target_dependencies(subscriber_member_function_with_topic_statistics rclcpp example_interfaces) add_executable(subscriber_member_function_with_type_adapter member_function_with_type_adapter.cpp) -ament_target_dependencies(subscriber_member_function_with_type_adapter rclcpp std_msgs) +ament_target_dependencies(subscriber_member_function_with_type_adapter rclcpp example_interfaces) add_executable(subscriber_member_function_with_unique_network_flow_endpoints member_function_with_unique_network_flow_endpoints.cpp) -ament_target_dependencies(subscriber_member_function_with_unique_network_flow_endpoints rclcpp std_msgs) +ament_target_dependencies(subscriber_member_function_with_unique_network_flow_endpoints rclcpp example_interfaces) add_executable(subscriber_not_composable not_composable.cpp) -ament_target_dependencies(subscriber_not_composable rclcpp std_msgs) +ament_target_dependencies(subscriber_not_composable rclcpp example_interfaces) add_executable(subscriber_content_filtering content_filtering.cpp) -ament_target_dependencies(subscriber_content_filtering rclcpp std_msgs) +ament_target_dependencies(subscriber_content_filtering rclcpp example_interfaces) add_library(wait_set_subscriber_library SHARED wait_set_subscriber.cpp static_wait_set_subscriber.cpp time_triggered_wait_set_subscriber.cpp) -ament_target_dependencies(wait_set_subscriber_library rclcpp rclcpp_components std_msgs) +ament_target_dependencies(wait_set_subscriber_library rclcpp rclcpp_components example_interfaces) rclcpp_components_register_node(wait_set_subscriber_library PLUGIN "WaitSetSubscriber" diff --git a/rclcpp/topics/minimal_subscriber/content_filtering.cpp b/rclcpp/topics/minimal_subscriber/content_filtering.cpp index 74de76e4..d241ef79 100644 --- a/rclcpp/topics/minimal_subscriber/content_filtering.cpp +++ b/rclcpp/topics/minimal_subscriber/content_filtering.cpp @@ -17,7 +17,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using std::placeholders::_1; @@ -37,7 +37,7 @@ class MinimalContentFilteringSubscriber : public rclcpp::Node current_expression_parameter_ }; - subscription_ = this->create_subscription( + subscription_ = this->create_subscription( "topic", 10, std::bind(&MinimalContentFilteringSubscriber::topic_callback, this, _1), sub_options); @@ -53,7 +53,7 @@ class MinimalContentFilteringSubscriber : public rclcpp::Node } private: - void topic_callback(const std_msgs::msg::String & msg) + void topic_callback(const example_interfaces::msg::String & msg) { RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg.data.c_str()); // update filtering expression parameter @@ -88,7 +88,7 @@ class MinimalContentFilteringSubscriber : public rclcpp::Node } } - rclcpp::Subscription::SharedPtr subscription_; + rclcpp::Subscription::SharedPtr subscription_; std::string current_filtering_expression_; std::string current_expression_parameter_; size_t count_; diff --git a/rclcpp/topics/minimal_subscriber/lambda.cpp b/rclcpp/topics/minimal_subscriber/lambda.cpp index 16b9083d..a3abfcbf 100644 --- a/rclcpp/topics/minimal_subscriber/lambda.cpp +++ b/rclcpp/topics/minimal_subscriber/lambda.cpp @@ -15,7 +15,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" class MinimalSubscriber : public rclcpp::Node { @@ -24,15 +24,15 @@ class MinimalSubscriber : public rclcpp::Node : Node("minimal_subscriber") { auto topic_callback = - [this](std_msgs::msg::String::UniquePtr msg) -> void { + [this](example_interfaces::msg::String::UniquePtr msg) -> void { RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str()); }; subscription_ = - this->create_subscription("topic", 10, topic_callback); + this->create_subscription("topic", 10, topic_callback); } private: - rclcpp::Subscription::SharedPtr subscription_; + rclcpp::Subscription::SharedPtr subscription_; }; int main(int argc, char * argv[]) diff --git a/rclcpp/topics/minimal_subscriber/member_function.cpp b/rclcpp/topics/minimal_subscriber/member_function.cpp index 40f27f7d..9b15c730 100644 --- a/rclcpp/topics/minimal_subscriber/member_function.cpp +++ b/rclcpp/topics/minimal_subscriber/member_function.cpp @@ -16,7 +16,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using std::placeholders::_1; @@ -26,16 +26,16 @@ class MinimalSubscriber : public rclcpp::Node MinimalSubscriber() : Node("minimal_subscriber") { - subscription_ = this->create_subscription( + subscription_ = this->create_subscription( "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1)); } private: - void topic_callback(const std_msgs::msg::String & msg) const + void topic_callback(const example_interfaces::msg::String & msg) const { RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg.data.c_str()); } - rclcpp::Subscription::SharedPtr subscription_; + rclcpp::Subscription::SharedPtr subscription_; }; int main(int argc, char * argv[]) diff --git a/rclcpp/topics/minimal_subscriber/member_function_with_topic_statistics.cpp b/rclcpp/topics/minimal_subscriber/member_function_with_topic_statistics.cpp index c7523ba1..002d1d49 100644 --- a/rclcpp/topics/minimal_subscriber/member_function_with_topic_statistics.cpp +++ b/rclcpp/topics/minimal_subscriber/member_function_with_topic_statistics.cpp @@ -18,7 +18,7 @@ #include "rclcpp/rclcpp.hpp" #include "rclcpp/subscription_options.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" class MinimalSubscriberWithTopicStatistics : public rclcpp::Node { @@ -36,20 +36,20 @@ class MinimalSubscriberWithTopicStatistics : public rclcpp::Node // configure the topic name (default '/statistics') // options.topic_stats_options.publish_topic = "/topic_statistics" - auto callback = [this](const std_msgs::msg::String & msg) { + auto callback = [this](const example_interfaces::msg::String & msg) { this->topic_callback(msg); }; - subscription_ = this->create_subscription( + subscription_ = this->create_subscription( "topic", 10, callback, options); } private: - void topic_callback(const std_msgs::msg::String & msg) const + void topic_callback(const example_interfaces::msg::String & msg) const { RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg.data.c_str()); } - rclcpp::Subscription::SharedPtr subscription_; + rclcpp::Subscription::SharedPtr subscription_; }; int main(int argc, char * argv[]) diff --git a/rclcpp/topics/minimal_subscriber/member_function_with_type_adapter.cpp b/rclcpp/topics/minimal_subscriber/member_function_with_type_adapter.cpp index bb9c8925..00cb3b8f 100644 --- a/rclcpp/topics/minimal_subscriber/member_function_with_type_adapter.cpp +++ b/rclcpp/topics/minimal_subscriber/member_function_with_type_adapter.cpp @@ -19,7 +19,7 @@ #include "rclcpp/type_adapter.hpp" #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using std::placeholders::_1; @@ -29,11 +29,11 @@ using std::placeholders::_1; * more "self-contained". */ template<> -struct rclcpp::TypeAdapter +struct rclcpp::TypeAdapter { using is_specialized = std::true_type; using custom_type = std::string; - using ros_message_type = std_msgs::msg::String; + using ros_message_type = example_interfaces::msg::String; static void @@ -55,11 +55,11 @@ struct rclcpp::TypeAdapter }; /* In this example, a subscriber uses a type adapter to use a `std::string` - * in place of a `std_msgs::msg::String` in the subscription's callback. */ + * in place of a `example_interfaces::msg::String` in the subscription's callback. */ class MinimalSubscriber : public rclcpp::Node { - using MyAdaptedType = rclcpp::TypeAdapter; + using MyAdaptedType = rclcpp::TypeAdapter; public: MinimalSubscriber() diff --git a/rclcpp/topics/minimal_subscriber/member_function_with_unique_network_flow_endpoints.cpp b/rclcpp/topics/minimal_subscriber/member_function_with_unique_network_flow_endpoints.cpp index 2ee425b9..c3f3a16c 100644 --- a/rclcpp/topics/minimal_subscriber/member_function_with_unique_network_flow_endpoints.cpp +++ b/rclcpp/topics/minimal_subscriber/member_function_with_unique_network_flow_endpoints.cpp @@ -21,7 +21,7 @@ #include "rclcpp/rclcpp.hpp" #include "rclcpp/subscription_options.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using std::placeholders::_1; @@ -39,7 +39,7 @@ class MinimalSubscriberWithUniqueNetworkFlowEndpoints : public rclcpp::Node options_1.require_unique_network_flow_endpoints = RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_STRICTLY_REQUIRED; - subscription_1_ = this->create_subscription( + subscription_1_ = this->create_subscription( "topic_1", 10, std::bind( &MinimalSubscriberWithUniqueNetworkFlowEndpoints::topic_1_callback, this, _1), options_1); @@ -47,7 +47,7 @@ class MinimalSubscriberWithUniqueNetworkFlowEndpoints : public rclcpp::Node // Create subscription without unique network flow endpoints // Unique network flow endpoints are disabled by default auto options_2 = rclcpp::SubscriptionOptions(); - subscription_2_ = this->create_subscription( + subscription_2_ = this->create_subscription( "topic_2", 10, std::bind( &MinimalSubscriberWithUniqueNetworkFlowEndpoints::topic_2_callback, this, _1), options_2); @@ -79,11 +79,11 @@ class MinimalSubscriberWithUniqueNetworkFlowEndpoints : public rclcpp::Node } private: - void topic_1_callback(const std_msgs::msg::String & msg) const + void topic_1_callback(const example_interfaces::msg::String & msg) const { RCLCPP_INFO(this->get_logger(), "Topic 1 news: '%s'", msg.data.c_str()); } - void topic_2_callback(const std_msgs::msg::String & msg) const + void topic_2_callback(const example_interfaces::msg::String & msg) const { RCLCPP_INFO(this->get_logger(), "Topic 2 news: '%s'", msg.data.c_str()); } @@ -107,8 +107,8 @@ class MinimalSubscriberWithUniqueNetworkFlowEndpoints : public rclcpp::Node this->get_logger(), "%s", stream.str().c_str()); } - rclcpp::Subscription::SharedPtr subscription_1_; - rclcpp::Subscription::SharedPtr subscription_2_; + rclcpp::Subscription::SharedPtr subscription_1_; + rclcpp::Subscription::SharedPtr subscription_2_; }; int main(int argc, char * argv[]) diff --git a/rclcpp/topics/minimal_subscriber/not_composable.cpp b/rclcpp/topics/minimal_subscriber/not_composable.cpp index 176f83a7..26b58730 100644 --- a/rclcpp/topics/minimal_subscriber/not_composable.cpp +++ b/rclcpp/topics/minimal_subscriber/not_composable.cpp @@ -13,7 +13,7 @@ // limitations under the License. #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" rclcpp::Node::SharedPtr g_node = nullptr; @@ -22,7 +22,7 @@ rclcpp::Node::SharedPtr g_node = nullptr; * examples for the "new" recommended styles. This example is only included * for completeness because it is similar to "classic" standalone ROS nodes. */ -void topic_callback(const std_msgs::msg::String & msg) +void topic_callback(const example_interfaces::msg::String & msg) { RCLCPP_INFO(g_node->get_logger(), "I heard: '%s'", msg.data.c_str()); } @@ -32,7 +32,7 @@ int main(int argc, char * argv[]) rclcpp::init(argc, argv); g_node = rclcpp::Node::make_shared("minimal_subscriber"); auto subscription = - g_node->create_subscription("topic", 10, topic_callback); + g_node->create_subscription("topic", 10, topic_callback); rclcpp::spin(g_node); rclcpp::shutdown(); return 0; diff --git a/rclcpp/topics/minimal_subscriber/package.xml b/rclcpp/topics/minimal_subscriber/package.xml index f2ac4f80..a41aad78 100644 --- a/rclcpp/topics/minimal_subscriber/package.xml +++ b/rclcpp/topics/minimal_subscriber/package.xml @@ -19,11 +19,11 @@ rclcpp rclcpp_components - std_msgs + example_interfaces rclcpp rclcpp_components - std_msgs + example_interfaces ament_lint_auto ament_lint_common diff --git a/rclcpp/topics/minimal_subscriber/static_wait_set_subscriber.cpp b/rclcpp/topics/minimal_subscriber/static_wait_set_subscriber.cpp index d72c7ab3..db769a3a 100644 --- a/rclcpp/topics/minimal_subscriber/static_wait_set_subscriber.cpp +++ b/rclcpp/topics/minimal_subscriber/static_wait_set_subscriber.cpp @@ -16,7 +16,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" /* This example creates a subclass of Node and uses static a wait-set based loop to wait on * a subscription to have messages available and then handles them manually without an executor */ @@ -36,10 +36,10 @@ class StaticWaitSetSubscriber : public rclcpp::Node rclcpp::CallbackGroupType::MutuallyExclusive, false); auto subscription_options = rclcpp::SubscriptionOptions(); subscription_options.callback_group = cb_group_waitset; - auto subscription_callback = [this](std_msgs::msg::String::UniquePtr msg) { + auto subscription_callback = [this](example_interfaces::msg::String::UniquePtr msg) { RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str()); }; - return this->create_subscription( + return this->create_subscription( "topic", 10, subscription_callback, @@ -66,10 +66,11 @@ class StaticWaitSetSubscriber : public rclcpp::Node switch (wait_result.kind()) { case rclcpp::WaitResultKind::Ready: { - std_msgs::msg::String msg; + example_interfaces::msg::String msg; rclcpp::MessageInfo msg_info; if (subscription_->take(msg, msg_info)) { - std::shared_ptr type_erased_msg = std::make_shared(msg); + std::shared_ptr type_erased_msg = + std::make_shared(msg); subscription_->handle_message(type_erased_msg, msg_info); } break; @@ -86,7 +87,7 @@ class StaticWaitSetSubscriber : public rclcpp::Node } private: - rclcpp::Subscription::SharedPtr subscription_; + rclcpp::Subscription::SharedPtr subscription_; MyStaticWaitSet wait_set_; std::thread thread_; }; diff --git a/rclcpp/topics/minimal_subscriber/time_triggered_wait_set_subscriber.cpp b/rclcpp/topics/minimal_subscriber/time_triggered_wait_set_subscriber.cpp index 47e4dc78..a91b1e0b 100644 --- a/rclcpp/topics/minimal_subscriber/time_triggered_wait_set_subscriber.cpp +++ b/rclcpp/topics/minimal_subscriber/time_triggered_wait_set_subscriber.cpp @@ -16,7 +16,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using namespace std::chrono_literals; @@ -34,19 +34,20 @@ class TimeTriggeredWaitSetSubscriber : public rclcpp::Node auto subscription_options = rclcpp::SubscriptionOptions(); subscription_options.callback_group = cb_group_waitset; - auto subscription_callback = [this](std_msgs::msg::String::UniquePtr msg) { + auto subscription_callback = [this](example_interfaces::msg::String::UniquePtr msg) { RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str()); }; - subscription_ = this->create_subscription( + subscription_ = this->create_subscription( "topic", 10, subscription_callback, subscription_options); auto timer_callback = [this]() -> void { - std_msgs::msg::String msg; + example_interfaces::msg::String msg; rclcpp::MessageInfo msg_info; if (subscription_->take(msg, msg_info)) { - std::shared_ptr type_erased_msg = std::make_shared(msg); + std::shared_ptr type_erased_msg = + std::make_shared(msg); subscription_->handle_message(type_erased_msg, msg_info); } else { RCLCPP_WARN(this->get_logger(), "No message available"); @@ -89,7 +90,7 @@ class TimeTriggeredWaitSetSubscriber : public rclcpp::Node } private: - rclcpp::Subscription::SharedPtr subscription_; + rclcpp::Subscription::SharedPtr subscription_; rclcpp::TimerBase::SharedPtr timer_; rclcpp::WaitSet wait_set_; std::thread thread_; diff --git a/rclcpp/topics/minimal_subscriber/wait_set_subscriber.cpp b/rclcpp/topics/minimal_subscriber/wait_set_subscriber.cpp index 79dddce2..f50e5e46 100644 --- a/rclcpp/topics/minimal_subscriber/wait_set_subscriber.cpp +++ b/rclcpp/topics/minimal_subscriber/wait_set_subscriber.cpp @@ -16,7 +16,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" /* This example creates a subclass of Node and uses a wait-set based loop to wait on * a subscription to have messages available and then handles them manually without an executor */ @@ -31,10 +31,10 @@ class WaitSetSubscriber : public rclcpp::Node rclcpp::CallbackGroupType::MutuallyExclusive, false); auto subscription_options = rclcpp::SubscriptionOptions(); subscription_options.callback_group = cb_group_waitset; - auto subscription_callback = [this](std_msgs::msg::String::UniquePtr msg) { + auto subscription_callback = [this](example_interfaces::msg::String::UniquePtr msg) { RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str()); }; - subscription_ = this->create_subscription( + subscription_ = this->create_subscription( "topic", 10, subscription_callback, @@ -58,10 +58,11 @@ class WaitSetSubscriber : public rclcpp::Node switch (wait_result.kind()) { case rclcpp::WaitResultKind::Ready: { - std_msgs::msg::String msg; + example_interfaces::msg::String msg; rclcpp::MessageInfo msg_info; if (subscription_->take(msg, msg_info)) { - std::shared_ptr type_erased_msg = std::make_shared(msg); + std::shared_ptr type_erased_msg = + std::make_shared(msg); subscription_->handle_message(type_erased_msg, msg_info); } break; @@ -78,7 +79,7 @@ class WaitSetSubscriber : public rclcpp::Node } private: - rclcpp::Subscription::SharedPtr subscription_; + rclcpp::Subscription::SharedPtr subscription_; rclcpp::WaitSet wait_set_; std::thread thread_; }; diff --git a/rclcpp/wait_set/CMakeLists.txt b/rclcpp/wait_set/CMakeLists.txt index 0d3b9e8b..77de9f16 100644 --- a/rclcpp/wait_set/CMakeLists.txt +++ b/rclcpp/wait_set/CMakeLists.txt @@ -15,13 +15,13 @@ find_package(ament_cmake REQUIRED) find_package(example_interfaces REQUIRED) find_package(rclcpp REQUIRED) find_package(rclcpp_components REQUIRED) -find_package(std_msgs REQUIRED) +find_package(example_interfaces REQUIRED) include_directories(include) add_library(talker SHARED src/talker.cpp) target_compile_definitions(talker PRIVATE WAIT_SET_DLL) -ament_target_dependencies(talker rclcpp rclcpp_components std_msgs) +ament_target_dependencies(talker rclcpp rclcpp_components example_interfaces) rclcpp_components_register_node( talker PLUGIN "Talker" @@ -29,32 +29,32 @@ rclcpp_components_register_node( add_library(listener SHARED src/listener.cpp) target_compile_definitions(listener PRIVATE WAIT_SET_DLL) -ament_target_dependencies(listener rclcpp rclcpp_components std_msgs) +ament_target_dependencies(listener rclcpp rclcpp_components example_interfaces) rclcpp_components_register_node( listener PLUGIN "Listener" EXECUTABLE wait_set_listener) add_executable(wait_set src/wait_set.cpp) -ament_target_dependencies(wait_set example_interfaces rclcpp std_msgs) +ament_target_dependencies(wait_set example_interfaces rclcpp example_interfaces) add_executable(static_wait_set src/static_wait_set.cpp) -ament_target_dependencies(static_wait_set rclcpp std_msgs) +ament_target_dependencies(static_wait_set rclcpp example_interfaces) add_executable(thread_safe_wait_set src/thread_safe_wait_set.cpp) -ament_target_dependencies(thread_safe_wait_set example_interfaces rclcpp std_msgs) +ament_target_dependencies(thread_safe_wait_set example_interfaces rclcpp example_interfaces) add_executable(wait_set_topics_and_timer src/wait_set_topics_and_timer.cpp) -ament_target_dependencies(wait_set_topics_and_timer rclcpp std_msgs) +ament_target_dependencies(wait_set_topics_and_timer rclcpp example_interfaces) add_executable(wait_set_random_order src/wait_set_random_order.cpp) -ament_target_dependencies(wait_set_random_order rclcpp std_msgs) +ament_target_dependencies(wait_set_random_order rclcpp example_interfaces) add_executable(executor_random_order src/executor_random_order.cpp) -ament_target_dependencies(executor_random_order rclcpp std_msgs) +ament_target_dependencies(executor_random_order rclcpp example_interfaces) add_executable(wait_set_topics_with_different_rates src/wait_set_topics_with_different_rates.cpp) -ament_target_dependencies(wait_set_topics_with_different_rates rclcpp std_msgs) +ament_target_dependencies(wait_set_topics_with_different_rates rclcpp example_interfaces) add_executable(wait_set_composed src/wait_set_composed.cpp) target_link_libraries(wait_set_composed talker listener) diff --git a/rclcpp/wait_set/include/wait_set/listener.hpp b/rclcpp/wait_set/include/wait_set/listener.hpp index f4d9d7c5..e83ea897 100644 --- a/rclcpp/wait_set/include/wait_set/listener.hpp +++ b/rclcpp/wait_set/include/wait_set/listener.hpp @@ -16,7 +16,7 @@ #define WAIT_SET__LISTENER_HPP_ #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" #include "wait_set/visibility.h" class Listener : public rclcpp::Node @@ -28,8 +28,8 @@ class Listener : public rclcpp::Node private: void spin_wait_set(); - rclcpp::Subscription::SharedPtr subscription1_; - rclcpp::Subscription::SharedPtr subscription2_; + rclcpp::Subscription::SharedPtr subscription1_; + rclcpp::Subscription::SharedPtr subscription2_; rclcpp::WaitSet wait_set_; std::thread thread_; }; diff --git a/rclcpp/wait_set/include/wait_set/random_listener.hpp b/rclcpp/wait_set/include/wait_set/random_listener.hpp index 79589ad7..2d1edb2a 100644 --- a/rclcpp/wait_set/include/wait_set/random_listener.hpp +++ b/rclcpp/wait_set/include/wait_set/random_listener.hpp @@ -19,22 +19,23 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" class RandomListener : public rclcpp::Node { - using subscription_list = std::vector::SharedPtr>; + using subscription_list = + std::vector::SharedPtr>; public: RandomListener() : Node("random_listener") { - auto print_msg = [this](std_msgs::msg::String::UniquePtr msg) { + auto print_msg = [this](example_interfaces::msg::String::UniquePtr msg) { RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str()); }; - sub1_ = this->create_subscription("topicA", 10, print_msg); - sub2_ = this->create_subscription("topicB", 10, print_msg); - sub3_ = this->create_subscription("topicC", 10, print_msg); + sub1_ = this->create_subscription("topicA", 10, print_msg); + sub2_ = this->create_subscription("topicB", 10, print_msg); + sub3_ = this->create_subscription("topicC", 10, print_msg); } subscription_list get_subscriptions() const @@ -43,8 +44,8 @@ class RandomListener : public rclcpp::Node } private: - rclcpp::Subscription::SharedPtr sub1_; - rclcpp::Subscription::SharedPtr sub2_; - rclcpp::Subscription::SharedPtr sub3_; + rclcpp::Subscription::SharedPtr sub1_; + rclcpp::Subscription::SharedPtr sub2_; + rclcpp::Subscription::SharedPtr sub3_; }; #endif // WAIT_SET__RANDOM_LISTENER_HPP_ diff --git a/rclcpp/wait_set/include/wait_set/random_talker.hpp b/rclcpp/wait_set/include/wait_set/random_talker.hpp index 0b58db7b..5db1db1a 100644 --- a/rclcpp/wait_set/include/wait_set/random_talker.hpp +++ b/rclcpp/wait_set/include/wait_set/random_talker.hpp @@ -20,37 +20,37 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" class RandomTalker : public rclcpp::Node { public: RandomTalker() : Node("random_talker"), - pub1_(this->create_publisher("topicA", 10)), - pub2_(this->create_publisher("topicB", 10)), - pub3_(this->create_publisher("topicC", 10)), + pub1_(this->create_publisher("topicA", 10)), + pub2_(this->create_publisher("topicB", 10)), + pub3_(this->create_publisher("topicC", 10)), rand_engine_(static_cast( std::abs(std::chrono::system_clock::now().time_since_epoch().count()) )) { publish_functions_.emplace_back( ([this]() { - std_msgs::msg::String msg; + example_interfaces::msg::String msg; msg.data = "A"; RCLCPP_INFO(this->get_logger(), "Publishing: %s", msg.data.c_str()); pub1_->publish(msg); })); publish_functions_.emplace_back( ([this]() { - std_msgs::msg::String msg; + example_interfaces::msg::String msg; msg.data = "B"; RCLCPP_INFO(this->get_logger(), "Publishing: %s", msg.data.c_str()); pub2_->publish(msg); })); publish_functions_.emplace_back( ([this]() { - std_msgs::msg::String msg; + example_interfaces::msg::String msg; msg.data = "C"; RCLCPP_INFO(this->get_logger(), "Publishing: %s", msg.data.c_str()); pub3_->publish(msg); @@ -65,9 +65,9 @@ class RandomTalker : public rclcpp::Node private: rclcpp::TimerBase::SharedPtr timer_; - rclcpp::Publisher::SharedPtr pub1_; - rclcpp::Publisher::SharedPtr pub2_; - rclcpp::Publisher::SharedPtr pub3_; + rclcpp::Publisher::SharedPtr pub1_; + rclcpp::Publisher::SharedPtr pub2_; + rclcpp::Publisher::SharedPtr pub3_; std::vector> publish_functions_; std::default_random_engine rand_engine_; }; diff --git a/rclcpp/wait_set/include/wait_set/talker.hpp b/rclcpp/wait_set/include/wait_set/talker.hpp index 09c912a7..4453c427 100644 --- a/rclcpp/wait_set/include/wait_set/talker.hpp +++ b/rclcpp/wait_set/include/wait_set/talker.hpp @@ -16,7 +16,7 @@ #define WAIT_SET__TALKER_HPP_ #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" #include "wait_set/visibility.h" class Talker : public rclcpp::Node @@ -26,7 +26,7 @@ class Talker : public rclcpp::Node private: size_t count_; - rclcpp::Publisher::SharedPtr publisher_; + rclcpp::Publisher::SharedPtr publisher_; rclcpp::TimerBase::SharedPtr timer_; }; diff --git a/rclcpp/wait_set/package.xml b/rclcpp/wait_set/package.xml index 8c11c22d..fb83c55f 100644 --- a/rclcpp/wait_set/package.xml +++ b/rclcpp/wait_set/package.xml @@ -19,12 +19,12 @@ example_interfaces rclcpp rclcpp_components - std_msgs + example_interfaces example_interfaces rclcpp rclcpp_components - std_msgs + example_interfaces ament_lint_auto ament_lint_common diff --git a/rclcpp/wait_set/src/executor_random_order.cpp b/rclcpp/wait_set/src/executor_random_order.cpp index c2dfb907..26b42ab9 100644 --- a/rclcpp/wait_set/src/executor_random_order.cpp +++ b/rclcpp/wait_set/src/executor_random_order.cpp @@ -15,7 +15,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" #include "wait_set/random_listener.hpp" #include "wait_set/random_talker.hpp" diff --git a/rclcpp/wait_set/src/listener.cpp b/rclcpp/wait_set/src/listener.cpp index e56bda06..4a6081ca 100644 --- a/rclcpp/wait_set/src/listener.cpp +++ b/rclcpp/wait_set/src/listener.cpp @@ -17,30 +17,30 @@ #include "wait_set/listener.hpp" #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using namespace std::chrono_literals; Listener::Listener(rclcpp::NodeOptions options) : Node("listener", options) { - auto subscription_callback = [this](std_msgs::msg::String::UniquePtr msg) { + auto subscription_callback = [this](example_interfaces::msg::String::UniquePtr msg) { RCLCPP_INFO(this->get_logger(), "I heard: '%s' (executor)", msg->data.c_str()); }; - subscription1_ = this->create_subscription( + subscription1_ = this->create_subscription( "topic", 10, subscription_callback ); - auto wait_set_subscription_callback = [this](std_msgs::msg::String::UniquePtr msg) { + auto wait_set_subscription_callback = [this](example_interfaces::msg::String::UniquePtr msg) { RCLCPP_INFO(this->get_logger(), "I heard: '%s' (wait-set)", msg->data.c_str()); }; rclcpp::CallbackGroup::SharedPtr cb_group_waitset = this->create_callback_group( rclcpp::CallbackGroupType::MutuallyExclusive, false); auto subscription_options = rclcpp::SubscriptionOptions(); subscription_options.callback_group = cb_group_waitset; - subscription2_ = this->create_subscription( + subscription2_ = this->create_subscription( "topic", 10, wait_set_subscription_callback, @@ -63,10 +63,11 @@ void Listener::spin_wait_set() const auto wait_result = wait_set_.wait(std::chrono::seconds(1)); if (wait_result.kind() == rclcpp::WaitResultKind::Ready) { if (wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0U]) { - std_msgs::msg::String msg; + example_interfaces::msg::String msg; rclcpp::MessageInfo msg_info; if (subscription2_->take(msg, msg_info)) { - std::shared_ptr type_erased_msg = std::make_shared(msg); + std::shared_ptr type_erased_msg = + std::make_shared(msg); subscription2_->handle_message(type_erased_msg, msg_info); } } diff --git a/rclcpp/wait_set/src/static_wait_set.cpp b/rclcpp/wait_set/src/static_wait_set.cpp index 79ba4d1a..889ba11e 100644 --- a/rclcpp/wait_set/src/static_wait_set.cpp +++ b/rclcpp/wait_set/src/static_wait_set.cpp @@ -16,7 +16,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" int main(int argc, char * argv[]) { @@ -24,9 +24,11 @@ int main(int argc, char * argv[]) auto node = std::make_shared("static_wait_set_example_node"); - auto do_nothing = [](std_msgs::msg::String::UniquePtr) {assert(false);}; - auto sub1 = node->create_subscription("~/chatter", 10, do_nothing); - auto sub2 = node->create_subscription("~/chatter", 10, do_nothing); + auto do_nothing = [](example_interfaces::msg::String::UniquePtr) {assert(false);}; + auto sub1 = + node->create_subscription("~/chatter", 10, do_nothing); + auto sub2 = + node->create_subscription("~/chatter", 10, do_nothing); std::vector sub_vector = {sub1, sub2}; auto guard_condition1 = std::make_shared(); auto guard_condition2 = std::make_shared(); @@ -54,7 +56,7 @@ int main(int argc, char * argv[]) for (size_t i = 0; i < subscriptions_num; i++) { if (wait_result.get_wait_set().get_rcl_wait_set().subscriptions[i]) { RCLCPP_INFO(node->get_logger(), "subscription %zu triggered", i + 1); - std_msgs::msg::String msg; + example_interfaces::msg::String msg; rclcpp::MessageInfo msg_info; if (sub_vector.at(i)->take(msg, msg_info)) { RCLCPP_INFO( @@ -84,8 +86,8 @@ int main(int argc, char * argv[]) wait_and_print_results(); RCLCPP_INFO(node->get_logger(), "Action: Message published"); - auto pub = node->create_publisher("~/chatter", 1); - pub->publish(std_msgs::msg::String().set__data("test")); + auto pub = node->create_publisher("~/chatter", 1); + pub->publish(example_interfaces::msg::String().set__data("test")); wait_and_print_results(); // Note the static wait-set does not allow adding or removing entities dynamically. diff --git a/rclcpp/wait_set/src/talker.cpp b/rclcpp/wait_set/src/talker.cpp index 86a7aa2b..bb1f23f3 100644 --- a/rclcpp/wait_set/src/talker.cpp +++ b/rclcpp/wait_set/src/talker.cpp @@ -16,17 +16,17 @@ #include "wait_set/talker.hpp" #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using namespace std::chrono_literals; Talker::Talker(rclcpp::NodeOptions options) : Node("talker", options), count_(0) { - publisher_ = create_publisher("topic", 10); + publisher_ = create_publisher("topic", 10); auto timer_callback = [this]() -> void { - auto message = std_msgs::msg::String(); + auto message = example_interfaces::msg::String(); message.data = "Hello, world! " + std::to_string(count_++); RCLCPP_INFO(this->get_logger(), "Publisher: '%s'", message.data.c_str()); publisher_->publish(message); diff --git a/rclcpp/wait_set/src/thread_safe_wait_set.cpp b/rclcpp/wait_set/src/thread_safe_wait_set.cpp index b0543e11..2b96e5a2 100644 --- a/rclcpp/wait_set/src/thread_safe_wait_set.cpp +++ b/rclcpp/wait_set/src/thread_safe_wait_set.cpp @@ -17,7 +17,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" int main(int argc, char * argv[]) { @@ -25,9 +25,11 @@ int main(int argc, char * argv[]) auto node = std::make_shared("wait_set_example_node"); - auto do_nothing = [](std_msgs::msg::String::UniquePtr) {assert(false);}; - auto sub1 = node->create_subscription("~/chatter", 10, do_nothing); - auto sub2 = node->create_subscription("~/chatter", 10, do_nothing); + auto do_nothing = [](example_interfaces::msg::String::UniquePtr) {assert(false);}; + auto sub1 = + node->create_subscription("~/chatter", 10, do_nothing); + auto sub2 = + node->create_subscription("~/chatter", 10, do_nothing); std::vector sub_vector = {sub1, sub2}; auto guard_condition1 = std::make_shared(); auto guard_condition2 = std::make_shared(); @@ -59,7 +61,7 @@ int main(int argc, char * argv[]) for (size_t i = 0; i < subscriptions_num; i++) { if (wait_result.get_wait_set().get_rcl_wait_set().subscriptions[i]) { RCLCPP_INFO(node->get_logger(), "subscription %zu triggered", i + 1); - std_msgs::msg::String msg; + example_interfaces::msg::String msg; rclcpp::MessageInfo msg_info; if (sub_vector.at(i)->take(msg, msg_info)) { RCLCPP_INFO( @@ -89,8 +91,8 @@ int main(int argc, char * argv[]) wait_and_print_results(); RCLCPP_INFO(node->get_logger(), "Action: Message published"); - auto pub = node->create_publisher("~/chatter", 1); - pub->publish(std_msgs::msg::String().set__data("test")); + auto pub = node->create_publisher("~/chatter", 1); + pub->publish(example_interfaces::msg::String().set__data("test")); wait_and_print_results(); RCLCPP_INFO(node->get_logger(), "Action: Guard condition 1 removed"); diff --git a/rclcpp/wait_set/src/wait_set.cpp b/rclcpp/wait_set/src/wait_set.cpp index b6422925..e3133cf0 100644 --- a/rclcpp/wait_set/src/wait_set.cpp +++ b/rclcpp/wait_set/src/wait_set.cpp @@ -17,7 +17,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" int main(int argc, char * argv[]) { @@ -25,9 +25,11 @@ int main(int argc, char * argv[]) auto node = std::make_shared("wait_set_example_node"); - auto do_nothing = [](std_msgs::msg::String::UniquePtr) {assert(false);}; - auto sub1 = node->create_subscription("~/chatter", 10, do_nothing); - auto sub2 = node->create_subscription("~/chatter", 10, do_nothing); + auto do_nothing = [](example_interfaces::msg::String::UniquePtr) {assert(false);}; + auto sub1 = + node->create_subscription("~/chatter", 10, do_nothing); + auto sub2 = + node->create_subscription("~/chatter", 10, do_nothing); std::vector sub_vector = {sub1, sub2}; auto guard_condition1 = std::make_shared(); auto guard_condition2 = std::make_shared(); @@ -59,7 +61,7 @@ int main(int argc, char * argv[]) for (size_t i = 0; i < subscriptions_num; i++) { if (wait_result.get_wait_set().get_rcl_wait_set().subscriptions[i]) { RCLCPP_INFO(node->get_logger(), "subscription %zu triggered", i + 1); - std_msgs::msg::String msg; + example_interfaces::msg::String msg; rclcpp::MessageInfo msg_info; if (sub_vector.at(i)->take(msg, msg_info)) { RCLCPP_INFO( @@ -89,8 +91,8 @@ int main(int argc, char * argv[]) wait_and_print_results(); RCLCPP_INFO(node->get_logger(), "Action: Message published"); - auto pub = node->create_publisher("~/chatter", 1); - pub->publish(std_msgs::msg::String().set__data("test")); + auto pub = node->create_publisher("~/chatter", 1); + pub->publish(example_interfaces::msg::String().set__data("test")); wait_and_print_results(); RCLCPP_INFO(node->get_logger(), "Action: Guard condition 1 removed"); diff --git a/rclcpp/wait_set/src/wait_set_random_order.cpp b/rclcpp/wait_set/src/wait_set_random_order.cpp index a71d5a82..f84a5f39 100644 --- a/rclcpp/wait_set/src/wait_set_random_order.cpp +++ b/rclcpp/wait_set/src/wait_set_random_order.cpp @@ -15,7 +15,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" #include "wait_set/random_listener.hpp" #include "wait_set/random_talker.hpp" @@ -53,13 +53,14 @@ int32_t main(const int32_t argc, char ** const argv) // Handle all the messages when all subscriptions have data if (sub1_has_data && sub2_has_data && sub3_has_data) { - std_msgs::msg::String msg; + example_interfaces::msg::String msg; rclcpp::MessageInfo msg_info; const size_t subscriptions_num = wait_set.get_rcl_wait_set().size_of_subscriptions; for (size_t i = 0; i < subscriptions_num; i++) { if (wait_result.get_wait_set().get_rcl_wait_set().subscriptions[i]) { if (subscriptions.at(i)->take(msg, msg_info)) { - std::shared_ptr type_erased_msg = std::make_shared(msg); + std::shared_ptr type_erased_msg = + std::make_shared(msg); subscriptions.at(i)->handle_message(type_erased_msg, msg_info); } } diff --git a/rclcpp/wait_set/src/wait_set_topics_and_timer.cpp b/rclcpp/wait_set/src/wait_set_topics_and_timer.cpp index fca6c37c..2cbf5052 100644 --- a/rclcpp/wait_set/src/wait_set_topics_and_timer.cpp +++ b/rclcpp/wait_set/src/wait_set_topics_and_timer.cpp @@ -15,7 +15,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using namespace std::chrono_literals; @@ -28,23 +28,23 @@ int32_t main(const int32_t argc, char ** const argv) rclcpp::init(argc, argv); auto node = std::make_shared("wait_set_listener"); - auto do_nothing = [](std_msgs::msg::String::UniquePtr) {assert(false);}; + auto do_nothing = [](example_interfaces::msg::String::UniquePtr) {assert(false);}; - auto sub1 = node->create_subscription("topicA", 1, do_nothing); - auto sub2 = node->create_subscription("topicB", 1, do_nothing); - auto sub3 = node->create_subscription("topicC", 1, do_nothing); + auto sub1 = node->create_subscription("topicA", 1, do_nothing); + auto sub2 = node->create_subscription("topicB", 1, do_nothing); + auto sub3 = node->create_subscription("topicC", 1, do_nothing); - std_msgs::msg::String msg1, msg2, msg3; + example_interfaces::msg::String msg1, msg2, msg3; msg1.data = "Hello, world!"; msg2.data = "Hello, world!"; msg3.data = "Hello, world!"; const auto pub1 = - node->create_publisher("topicA", 1); + node->create_publisher("topicA", 1); const auto pub2 = - node->create_publisher("topicB", 1); + node->create_publisher("topicB", 1); const auto pub3 = - node->create_publisher("topicC", 1); + node->create_publisher("topicC", 1); // Use a timer to schedule one-off message publishing. // Note in this case the callback won't be triggered automatically. It is up to the user to @@ -76,7 +76,7 @@ int32_t main(const int32_t argc, char ** const argv) one_off_timer->execute_callback(data); } } else { - std_msgs::msg::String msg; + example_interfaces::msg::String msg; rclcpp::MessageInfo msg_info; if (wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0U]) { if (sub1->take(msg, msg_info)) { diff --git a/rclcpp/wait_set/src/wait_set_topics_with_different_rates.cpp b/rclcpp/wait_set/src/wait_set_topics_with_different_rates.cpp index 3a4f42a0..4f474c90 100644 --- a/rclcpp/wait_set/src/wait_set_topics_with_different_rates.cpp +++ b/rclcpp/wait_set/src/wait_set_topics_with_different_rates.cpp @@ -16,7 +16,7 @@ #include #include "rclcpp/rclcpp.hpp" -#include "std_msgs/msg/string.hpp" +#include "example_interfaces/msg/string.hpp" using namespace std::chrono_literals; @@ -35,10 +35,10 @@ class Talker : public rclcpp::Node std::chrono::nanoseconds period) : Node(node_name) { - publisher_ = this->create_publisher(topic_name, 10); + publisher_ = this->create_publisher(topic_name, 10); auto timer_callback = [this, message_data]() -> void { - std_msgs::msg::String message; + example_interfaces::msg::String message; message.data = message_data; RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str()); this->publisher_->publish(message); @@ -48,7 +48,7 @@ class Talker : public rclcpp::Node private: rclcpp::TimerBase::SharedPtr timer_; - rclcpp::Publisher::SharedPtr publisher_; + rclcpp::Publisher::SharedPtr publisher_; }; int32_t main(const int32_t argc, char ** const argv) @@ -56,11 +56,11 @@ int32_t main(const int32_t argc, char ** const argv) rclcpp::init(argc, argv); auto node = std::make_shared("wait_set_listener"); - auto do_nothing = [](std_msgs::msg::String::UniquePtr) {assert(false);}; + auto do_nothing = [](example_interfaces::msg::String::UniquePtr) {assert(false);}; - auto sub1 = node->create_subscription("topicA", 10, do_nothing); - auto sub2 = node->create_subscription("topicB", 10, do_nothing); - auto sub3 = node->create_subscription("topicC", 10, do_nothing); + auto sub1 = node->create_subscription("topicA", 10, do_nothing); + auto sub2 = node->create_subscription("topicB", 10, do_nothing); + auto sub3 = node->create_subscription("topicC", 10, do_nothing); rclcpp::WaitSet wait_set({{sub1}, {sub2}, {sub3}}); @@ -85,8 +85,8 @@ int32_t main(const int32_t argc, char ** const argv) // topic A and B handling // Note only topic B is used as a trigger condition if (sub2_has_data) { - std_msgs::msg::String msg1; - std_msgs::msg::String msg2; + example_interfaces::msg::String msg1; + example_interfaces::msg::String msg2; rclcpp::MessageInfo msg_info; std::string handled_data; @@ -104,7 +104,7 @@ int32_t main(const int32_t argc, char ** const argv) // topic C handling if (sub3_has_data) { - std_msgs::msg::String msg; + example_interfaces::msg::String msg; rclcpp::MessageInfo msg_info; if (sub3->take(msg, msg_info)) { RCLCPP_INFO(node->get_logger(), "I heard: '%s'", msg.data.c_str()); diff --git a/rclpy/executors/examples_rclpy_executors/callback_group.py b/rclpy/executors/examples_rclpy_executors/callback_group.py index a13c654f..d07e137c 100644 --- a/rclpy/executors/examples_rclpy_executors/callback_group.py +++ b/rclpy/executors/examples_rclpy_executors/callback_group.py @@ -12,12 +12,12 @@ # See the License for the specific language governing permissions and # limitations under the License. +from example_interfaces.msg import String from examples_rclpy_executors.listener import Listener import rclpy from rclpy.callback_groups import MutuallyExclusiveCallbackGroup from rclpy.executors import MultiThreadedExecutor from rclpy.node import Node -from std_msgs.msg import String class DoubleTalker(Node): diff --git a/rclpy/executors/examples_rclpy_executors/custom_callback_group.py b/rclpy/executors/examples_rclpy_executors/custom_callback_group.py index 2971b85a..d9b5391f 100644 --- a/rclpy/executors/examples_rclpy_executors/custom_callback_group.py +++ b/rclpy/executors/examples_rclpy_executors/custom_callback_group.py @@ -15,11 +15,11 @@ import sys import threading +from example_interfaces.msg import String import rclpy from rclpy.callback_groups import CallbackGroup from rclpy.executors import ExternalShutdownException from rclpy.node import Node -from std_msgs.msg import String class ThrottledCallbackGroup(CallbackGroup): diff --git a/rclpy/executors/examples_rclpy_executors/custom_executor.py b/rclpy/executors/examples_rclpy_executors/custom_executor.py index 5a3d8ad0..217d4ae4 100644 --- a/rclpy/executors/examples_rclpy_executors/custom_executor.py +++ b/rclpy/executors/examples_rclpy_executors/custom_executor.py @@ -15,12 +15,12 @@ from concurrent.futures import ThreadPoolExecutor import os +from example_interfaces.msg import String from examples_rclpy_executors.listener import Listener from examples_rclpy_executors.talker import Talker import rclpy from rclpy.executors import Executor from rclpy.node import Node -from std_msgs.msg import String class Estopper(Node): diff --git a/rclpy/executors/examples_rclpy_executors/listener.py b/rclpy/executors/examples_rclpy_executors/listener.py index 9cb5dc2a..35103c8b 100644 --- a/rclpy/executors/examples_rclpy_executors/listener.py +++ b/rclpy/executors/examples_rclpy_executors/listener.py @@ -14,10 +14,10 @@ import sys +from example_interfaces.msg import String import rclpy from rclpy.executors import ExternalShutdownException from rclpy.node import Node -from std_msgs.msg import String class Listener(Node): diff --git a/rclpy/executors/examples_rclpy_executors/talker.py b/rclpy/executors/examples_rclpy_executors/talker.py index 73ce23c5..e8f953a5 100644 --- a/rclpy/executors/examples_rclpy_executors/talker.py +++ b/rclpy/executors/examples_rclpy_executors/talker.py @@ -14,10 +14,10 @@ import sys +from example_interfaces.msg import String import rclpy from rclpy.executors import ExternalShutdownException from rclpy.node import Node -from std_msgs.msg import String class Talker(Node): diff --git a/rclpy/executors/package.xml b/rclpy/executors/package.xml index 8343be88..ffc9b6f4 100644 --- a/rclpy/executors/package.xml +++ b/rclpy/executors/package.xml @@ -14,7 +14,7 @@ Shane Loretz rclpy - std_msgs + example_interfaces ament_copyright ament_flake8 diff --git a/rclpy/services/minimal_client/package.xml b/rclpy/services/minimal_client/package.xml index a6b161cf..e12af342 100644 --- a/rclpy/services/minimal_client/package.xml +++ b/rclpy/services/minimal_client/package.xml @@ -15,7 +15,7 @@ example_interfaces rclpy - std_msgs + example_interfaces diff --git a/rclpy/services/minimal_service/package.xml b/rclpy/services/minimal_service/package.xml index 5665cce4..e08cb17e 100644 --- a/rclpy/services/minimal_service/package.xml +++ b/rclpy/services/minimal_service/package.xml @@ -15,7 +15,7 @@ example_interfaces rclpy - std_msgs + example_interfaces diff --git a/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_local_function.py b/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_local_function.py index 002ce3b6..f4a55c1d 100644 --- a/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_local_function.py +++ b/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_local_function.py @@ -12,9 +12,9 @@ # See the License for the specific language governing permissions and # limitations under the License. -import rclpy +from example_interfaces.msg import String -from std_msgs.msg import String +import rclpy def main(args=None): diff --git a/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py b/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py index dfdb0320..1c7e31fe 100644 --- a/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py +++ b/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py @@ -12,11 +12,11 @@ # See the License for the specific language governing permissions and # limitations under the License. +from example_interfaces.msg import String + import rclpy from rclpy.node import Node -from std_msgs.msg import String - class MinimalPublisher(Node): diff --git a/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_old_school.py b/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_old_school.py index 23ab3ccf..09e1295a 100644 --- a/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_old_school.py +++ b/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_old_school.py @@ -14,9 +14,10 @@ from time import sleep +from example_interfaces.msg import String + import rclpy -from std_msgs.msg import String # We do not recommend this style as ROS 2 provides timers for this purpose, # and it is recommended that all nodes call a variation of spin. diff --git a/rclpy/topics/minimal_publisher/package.xml b/rclpy/topics/minimal_publisher/package.xml index 2379fc41..10a9496a 100644 --- a/rclpy/topics/minimal_publisher/package.xml +++ b/rclpy/topics/minimal_publisher/package.xml @@ -14,7 +14,7 @@ Shane Loretz rclpy - std_msgs + example_interfaces diff --git a/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_lambda.py b/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_lambda.py index 6d8e84da..011f66a2 100644 --- a/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_lambda.py +++ b/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_lambda.py @@ -12,9 +12,9 @@ # See the License for the specific language governing permissions and # limitations under the License. -import rclpy +from example_interfaces.msg import String -from std_msgs.msg import String +import rclpy def main(args=None): diff --git a/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py b/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py index 78c72668..7bed64ec 100644 --- a/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py +++ b/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py @@ -12,11 +12,11 @@ # See the License for the specific language governing permissions and # limitations under the License. +from example_interfaces.msg import String + import rclpy from rclpy.node import Node -from std_msgs.msg import String - class MinimalSubscriber(Node): diff --git a/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_old_school.py b/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_old_school.py index a15e789f..9f437e43 100644 --- a/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_old_school.py +++ b/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_old_school.py @@ -12,9 +12,9 @@ # See the License for the specific language governing permissions and # limitations under the License. -import rclpy +from example_interfaces.msg import String -from std_msgs.msg import String +import rclpy g_node = None diff --git a/rclpy/topics/minimal_subscriber/package.xml b/rclpy/topics/minimal_subscriber/package.xml index a564b419..8ccf7748 100644 --- a/rclpy/topics/minimal_subscriber/package.xml +++ b/rclpy/topics/minimal_subscriber/package.xml @@ -14,7 +14,7 @@ Shane Loretz rclpy - std_msgs + example_interfaces