first prototype of templated rcl, using non-templated middleware interface, implemented by connext using dynamic data

rclcpp/CMakeLists.txt

@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(rclcpp)
+
+find_package(ament_cmake REQUIRED)
+find_package(ros_middleware_interface REQUIRED)
+
+ament_export_dependencies(ros_dds_connext_dynamic ros_middleware_interface)
+ament_export_include_directories(include)
+
+ament_package()
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)

rclcpp/include/rclcpp/Node.h

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+#ifndef __rclcpp__Node__h__
+#define __rclcpp__Node__h__
+
+#include "Publisher.h"
+
+#include "ros_middleware_interface/functions.h"
+
+
+namespace rclcpp
+{
+
+class Node
+{
+public:
+  Node()
+  {
+    node_handle_ = ::ros_middleware_interface::create_node();
+  }
+
+  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);
+    return new Publisher<ROSMessage>(publisher_handle);
+  }
+
+private:
+  void * node_handle_;
+};
+
+}
+
+rclcpp::Node* create_node()
+{
+  return new rclcpp::Node();
+}
+
+
+#endif  // __rclcpp__Node__h__

rclcpp/include/rclcpp/Publisher.h

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+#ifndef __rclcpp__Publisher__h__
+#define __rclcpp__Publisher__h__
+
+#include "ros_middleware_interface/functions.h"
+
+
+namespace rclcpp
+{
+
+template<typename ROSMessage>
+class Publisher
+{
+public:
+  Publisher(void * publisher_handle)
+    : publisher_handle_(publisher_handle)
+  {}
+
+  void publish(const ROSMessage& ros_message)
+  {
+    ::ros_middleware_interface::publish(publisher_handle_, &ros_message);
+  }
+
+private:
+  void * publisher_handle_;
+};
+
+}
+
+#endif  // __rclcpp__Publisher__h__

rclcpp/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>rclcpp</name>
+  <version>0.0.0</version>
+  <description>The ROS client library in C++.</description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>ros_middleware_interface</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <build_depend>ros_dds_connext_dynamic</build_depend>
+</package>