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Merge test_subscription* into test_subscription

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This commit is contained in:
Christophe Bedard 2019-11-16 16:43:53 -08:00
parent 7c0e5712b1
commit 3a8f30e710
5 changed files with 70 additions and 151 deletions
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5
tracetools_test/src/test_ping.cpp
View file

@ -23,6 +23,7 @@ using namespace std::chrono_literals;
#define NODE_NAME "test_ping"
#define SUB_TOPIC_NAME "pong"
#define PUB_TOPIC_NAME "ping"
#define QUEUE_DEPTH 10
class PingNode : public rclcpp::Node
{
@ -32,11 +33,11 @@ public:
{
sub_ = this->create_subscription<std_msgs::msg::String>(
SUB_TOPIC_NAME,
rclcpp::QoS(10),
rclcpp::QoS(QUEUE_DEPTH),
std::bind(&PingNode::callback, this, std::placeholders::_1));
pub_ = this->create_publisher<std_msgs::msg::String>(
PUB_TOPIC_NAME,
rclcpp::QoS(10));
rclcpp::QoS(QUEUE_DEPTH));
timer_ = this->create_wall_timer(
500ms,
std::bind(&PingNode::timer_callback, this));

59
tracetools_test/src/test_subscription.cpp
View file

@ -1,59 +0,0 @@
// Copyright 2019 Robert Bosch GmbH
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
#define NODE_NAME "test_subscription"
#define TOPIC_NAME "the_topic"
#define QUEUE_DEPTH 10
class SubNode : public rclcpp::Node
{
public:
explicit SubNode(rclcpp::NodeOptions options)
: Node(NODE_NAME, options)
{
sub_ = this->create_subscription<std_msgs::msg::String>(
TOPIC_NAME,
rclcpp::QoS(QUEUE_DEPTH),
std::bind(&SubNode::callback, this, std::placeholders::_1));
}
private:
void callback(const std_msgs::msg::String::SharedPtr msg)
{
// Nothing
(void)msg;
}
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;
};
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::executors::SingleThreadedExecutor exec;
auto sub_node = std::make_shared<SubNode>(rclcpp::NodeOptions());
exec.add_node(sub_node);
printf("spinning once\n");
exec.spin_once();
rclcpp::shutdown();
return 0;
}