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

userland/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+
+project(userland)
+
+set(CMAKE_CXX_FLAGS "-std=c++0x")
+
+find_package(ros_middleware_interface REQUIRED)
+find_package(ros_dds_connext_dynamic REQUIRED)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+ament_package()
+
+include_directories(${rclcpp_INCLUDE_DIRS} ${std_msgs_INCLUDE_DIRS})
+add_executable(userland src/main.cpp)
+target_link_libraries(userland ${rclcpp_LIBRARIES} ${std_msgs_LIBRARIES})
+
+install(
+  TARGETS userland
+  DESTINATION bin
+)

userland/package.xml

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

userland/src/main.cpp

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+#include "rclcpp/Node.h"
+#include "rclcpp/Publisher.h"
+#include "std_msgs/Int32.h"
+
+
+main(int argc, char** argv)
+{
+  rclcpp::Node* n = create_node();
+  rclcpp::Publisher<std_msgs::Int32>* p = n->create_publisher<std_msgs::Int32>("topic_name");
+  std_msgs::Int32 ros_msg;
+  ros_msg.data = 23;
+  p->publish(ros_msg);
+  ros_msg.data = 42;
+  p->publish(ros_msg);
+  return 0;
+}