Initial commit of port of naive to ros 2

ros2/naive/CMakeLists.txt

@@ -0,0 +1,34 @@
+cmake_minimum_required(VERSION 3.16)
+project(naive CXX)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+add_executable(naive src/node.cpp src/incrementer.cpp)
+target_include_directories(naive PRIVATE include)
+ament_target_dependencies(naive rclcpp std_msgs)
+
+install(TARGETS
+  naive
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

ros2/naive/include/naive/incrementer.hpp

@@ -0,0 +1,55 @@
+/*********************************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2022, PickNik, LLC.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of PickNik nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *********************************************************************/
+#pragma once
+
+#include <string>
+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/int64.hpp>
+
+class Incrementer {
+public:
+    /**
+     * @brief      Incrementer constructor
+     *
+     * @param[in]  node       Shared pointer to a ROS node
+     * @param[in]  in_topic   ROS topic to the Incrementer subscribes to
+     * @param[in]  out_topic  ROS topic that the Incrementer publishes to
+     */
+	Incrementer(std::shared_ptr<rclcpp::Node> node, std::string const& in_topic, std::string const& out_topic);
+private:
+	std::shared_ptr<rclcpp::Node> node_;
+	std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Int64>> pub_;
+	std::shared_ptr<rclcpp::Subscription<std_msgs::msg::Int64>> sub_;
+};

ros2/naive/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>naive</name>
+  <version>0.0.0</version>
+  <description>Reference pub/sub example</description>
+  <maintainer email="[email protected]">bilal</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

ros2/naive/src/incrementer.cpp

@@ -0,0 +1,19 @@
+#include "naive/incrementer.hpp"
+
+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/int64.hpp>
+
+namespace {
+  constexpr auto queue_size = 10;
+}
+
+Incrementer::Incrementer(std::shared_ptr<rclcpp::Node> node, std::string const& in_topic, std::string const& out_topic)
+: node_{std::move(node)},
+  pub_{node_->create_publisher<std_msgs::msg::Int64>(out_topic,queue_size)},
+  sub_{node_->create_subscription<std_msgs::msg::Int64>(in_topic, queue_size,
+                                                        [this](std_msgs::msg::Int64::UniquePtr const msg) {
+                                                          std_msgs::msg::Int64 incremented;
+                                                          incremented.data = msg->data + 1;
+                                                          pub_->publish(incremented);
+                                                        })} {}

ros2/naive/src/node.cpp

@@ -0,0 +1,13 @@
+#include "naive/incrementer.hpp"
+#include <rclcpp/rclcpp.hpp>
+
+int main(int argc, char **argv) {
+
+	rclcpp::init(argc,argv);
+	auto const node = std::make_shared<rclcpp::Node>("incrementer");
+	Incrementer incrementer{node, "/in", "/out"};
+	rclcpp::spin(node);
+	rclcpp::shutdown();
+
+	return 0;
+}