Introduce rclcpp_components to implement composition (#665)
* Introduce rclcpp_components package Signed-off-by: Michael Carroll <michael@openrobotics.org> * Keep pointer to NodeWrapper vs NodeInterface. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Remove component registration from rclcpp Signed-off-by: Michael Carroll <michael@openrobotics.org> * Make topics names private-prefix. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Handle name and namespace with remap rules. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Linting. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Address reviewer feedback. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Change to smart pointers for managing memory. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Update to use rcpputils filesystem/split. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Address reviewer feedback and add docs. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Add tests around ComponentManager. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Lint. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Address reviewer feedback and add overflow check. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Fix CI. Signed-off-by: Michael Carroll <michael@openrobotics.org>
This commit is contained in:
parent
d11a10a583
commit
0f25f714fe
18 changed files with 1243 additions and 56 deletions
29
rclcpp_components/src/component_container_mt.cpp
Normal file
29
rclcpp_components/src/component_container_mt.cpp
Normal file
|
@ -0,0 +1,29 @@
|
|||
// Copyright 2019 Open Source Robotics Foundation, Inc.
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#include <memory>
|
||||
|
||||
#include "rclcpp/rclcpp.hpp"
|
||||
|
||||
#include "component_manager.hpp"
|
||||
|
||||
int main(int argc, char * argv[])
|
||||
{
|
||||
/// Component container with a multi-threaded executor.
|
||||
rclcpp::init(argc, argv);
|
||||
auto exec = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
|
||||
auto node = std::make_shared<rclcpp_components::ComponentManager>(exec);
|
||||
exec->add_node(node);
|
||||
exec->spin();
|
||||
}
|
Loading…
Add table
Add a link
Reference in a new issue