92 lines
2.5 KiB
C++
92 lines
2.5 KiB
C++
// Copyright 2019 Robert Bosch GmbH
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <memory>
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#include "rclcpp/rclcpp.hpp"
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#include "std_msgs/msg/string.hpp"
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using namespace std::chrono_literals;
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#define PUB_NODE_NAME "test_intra_pub"
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#define SUB_NODE_NAME "test_intra_sub"
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#define TOPIC_NAME "the_topic"
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class PubIntraNode : public rclcpp::Node
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{
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public:
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explicit PubIntraNode(rclcpp::NodeOptions options)
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: Node(PUB_NODE_NAME, options)
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{
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pub_ = this->create_publisher<std_msgs::msg::String>(
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TOPIC_NAME,
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rclcpp::QoS(10));
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timer_ = this->create_wall_timer(
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500ms,
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std::bind(&PubIntraNode::timer_callback, this));
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}
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private:
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void timer_callback()
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{
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auto msg = std::make_shared<std_msgs::msg::String>();
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msg->data = "some random intraprocess string";
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pub_->publish(*msg);
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}
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rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_;
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rclcpp::TimerBase::SharedPtr timer_;
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};
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class SubIntraNode : public rclcpp::Node
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{
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public:
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explicit SubIntraNode(rclcpp::NodeOptions options)
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: Node(SUB_NODE_NAME, options)
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{
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sub_ = this->create_subscription<std_msgs::msg::String>(
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"the_topic",
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rclcpp::QoS(10),
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std::bind(&SubIntraNode::callback, this, std::placeholders::_1));
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}
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private:
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void callback(const std_msgs::msg::String::SharedPtr msg)
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{
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RCLCPP_INFO(this->get_logger(), "[output] %s", msg->data.c_str());
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rclcpp::shutdown();
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}
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rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;
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};
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int main(int argc, char * argv[])
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{
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rclcpp::init(argc, argv);
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rclcpp::executors::SingleThreadedExecutor exec;
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auto pub_intra_node = std::make_shared<PubIntraNode>(
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rclcpp::NodeOptions().use_intra_process_comms(true));
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auto sub_intra_node = std::make_shared<SubIntraNode>(
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rclcpp::NodeOptions().use_intra_process_comms(true));
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exec.add_node(pub_intra_node);
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exec.add_node(sub_intra_node);
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printf("spinning\n");
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exec.spin();
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// Will actually be called inside the node's callback
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rclcpp::shutdown();
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return 0;
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}
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