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

ros_middleware_interface/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(ros_middleware_interface)
+
+find_package(ament_cmake REQUIRED)
+
+ament_export_include_directories(include)
+
+ament_package()
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)

ros_middleware_interface/include/ros_middleware_interface/functions.h

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+#ifndef __ros_middleware_interface__functions__h__
+#define __ros_middleware_interface__functions__h__
+
+#include "rosidl_generator_cpp/MessageTypeSupport.h"
+
+namespace ros_middleware_interface
+{
+
+void * create_node();
+
+void * create_publisher(void * node, const rosidl_generator_cpp::MessageTypeSupportMembers & members, const char * topic_name);
+
+void publish(void * publisher, const void * ros_message);
+
+}
+
+#endif  // __ros_middleware_interface__functions__h__

ros_middleware_interface/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>ros_middleware_interface</name>
+  <version>0.0.0</version>
+  <description>The ros_middleware_interface package</description>
+  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_export_depend>rosidl_generator_cpp</build_export_depend>
+</package>