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add ros_dds_cpp_dynamic_typesupport

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This commit is contained in:
Dirk Thomas 2014-08-01 13:30:19 -07:00
parent bcecf00928
commit 6b07c8f928
15 changed files with 480 additions and 42 deletions
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7
rclcpp/include/rclcpp/Node.h
View file

@ -4,6 +4,7 @@
#include "Publisher.h"
#include "ros_middleware_interface/functions.h"
#include "ros_middleware_interface/handles.h"
namespace rclcpp
@ -20,13 +21,13 @@ public:
template<typename ROSMessage>
Publisher<ROSMessage>* create_publisher(const char * topic_name)
{
const rosidl_generator_cpp::MessageTypeSupportMembers & members = rosidl_generator_cpp::MessageTypeSupport<ROSMessage>::get_members();
void * publisher_handle = ::ros_middleware_interface::create_publisher(node_handle_, members, topic_name);
const rosidl_generator_cpp::MessageTypeSupportHandle & type_support_handle = rosidl_generator_cpp::MessageTypeSupport<ROSMessage>::get_type_support_handle();
ros_middleware_interface::PublisherHandle publisher_handle = ::ros_middleware_interface::create_publisher(node_handle_, type_support_handle, topic_name);
return new Publisher<ROSMessage>(publisher_handle);
}
private:
void * node_handle_;
ros_middleware_interface::NodeHandle node_handle_;
};
}

5
rclcpp/include/rclcpp/Publisher.h
View file

@ -2,6 +2,7 @@
#define __rclcpp__Publisher__h__
#include "ros_middleware_interface/functions.h"
#include "ros_middleware_interface/handles.h"
namespace rclcpp
@ -11,7 +12,7 @@ template<typename ROSMessage>
class Publisher
{
public:
Publisher(void * publisher_handle)
Publisher(const ros_middleware_interface::PublisherHandle& publisher_handle)
: publisher_handle_(publisher_handle)
{}
@ -21,7 +22,7 @@ public:
}
private:
void * publisher_handle_;
ros_middleware_interface::PublisherHandle publisher_handle_;
};
}