68 lines
1.9 KiB
C++
68 lines
1.9 KiB
C++
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// Copyright 2019 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "rclcpp/rclcpp.hpp"
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namespace test_rclcpp_components
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{
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/// Simple test component
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class TestComponentFoo : public rclcpp::Node
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{
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public:
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explicit TestComponentFoo(rclcpp::NodeOptions options)
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: rclcpp::Node("test_component_foo", options)
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{
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}
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};
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/// Simple test component
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class TestComponentBar : public rclcpp::Node
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{
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public:
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explicit TestComponentBar(rclcpp::NodeOptions options)
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: rclcpp::Node("test_component_bar", options)
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{
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}
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};
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/// Simple test component that doesn't inherit from rclcpp::Node
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class TestComponentNoNode
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{
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public:
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explicit TestComponentNoNode(rclcpp::NodeOptions options)
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: node_("test_component_no_node", options)
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{
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}
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rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
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get_node_base_interface()
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{
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return node_.get_node_base_interface();
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}
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private:
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rclcpp::Node node_;
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};
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} // namespace test_rclcpp_components
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#include "rclcpp_components/register_node_macro.hpp"
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// Register the component with class_loader.
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// This acts as a sort of entry point, allowing the component to be discoverable when its library
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// is being loaded into a running process.
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RCLCPP_COMPONENTS_REGISTER_NODE(test_rclcpp_components::TestComponentFoo)
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RCLCPP_COMPONENTS_REGISTER_NODE(test_rclcpp_components::TestComponentBar)
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RCLCPP_COMPONENTS_REGISTER_NODE(test_rclcpp_components::TestComponentNoNode)
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