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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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8
ros_middleware_interface/include/ros_middleware_interface/functions.h
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@ -3,14 +3,16 @@
#include "rosidl_generator_cpp/MessageTypeSupport.h"
#include "handles.h"
namespace ros_middleware_interface
{
void * create_node();
NodeHandle create_node();
void * create_publisher(void * node, const rosidl_generator_cpp::MessageTypeSupportMembers & members, const char * topic_name);
PublisherHandle create_publisher(const NodeHandle& node_handle, const rosidl_generator_cpp::MessageTypeSupportHandle & type_support_handle, const char * topic_name);
void publish(void * publisher, const void * ros_message);
void publish(const PublisherHandle& publisher_handle, const void * ros_message);
}

19
ros_middleware_interface/include/ros_middleware_interface/handles.h Normal file
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@ -0,0 +1,19 @@
#ifndef __ros_middleware_interface__handles__h__
#define __ros_middleware_interface__handles__h__
namespace ros_middleware_interface
{
typedef struct NodeHandle {
const char * _implementation_identifier;
void * _data;
} NodeHandle;
typedef struct PublisherHandle {
const char * _implementation_identifier;
void * _data;
} PublisherHandle;
}
#endif // __ros_middleware_interface__handles__h__