ROS2 20 (rclccp-3)

[조건우]

1. 예제 1번을 수정하여 타이머를 이용하여 100msec 마다 토픽을 발행하고 구독하는 패키지 psub1-1를 작성하라.

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//wsl //sub.cpp #include "rclcpp/rclcpp.hpp" #include "std_msgs/msg/string.hpp" #include <memory> #include <functional> using std::placeholders::_1; //unbind (fn함수의 첫 번째 인자) void mysub_callback(rclcpp::Node::SharedPtr node, //std::shared_ptr<rclcpp::Node> node     const std_msgs::msg::String::SharedPtr msg) //std::shared_ptr<std_msgs::msg::String> msg {     RCLCPP_INFO(node->get_logger(), "Received message: %s", msg->data.c_str()); }   int main(int argc, char* argv[]) {     rclcpp::init(argc, argv);     auto node = std::make_shared<rclcpp::Node>("node_sub1");     auto qos_profile = rclcpp::QoS(rclcpp::KeepLast(10));       //토픽 메시지를 수신했을 때 호출되는 사용자 정의 콜백함수     std::function<void(const std_msgs::msg::String::SharedPtr msg)> fn;     fn = std::bind(mysub_callback, node, _1); //create_subscription함수의 세 번째 매개변수 조건                                               //반환형: void, 매개변수: MessageT     auto mysub = node->create_subscription<std_msgs::msg::String>("topic_pub1", qos_profile, fn);     rclcpp::spin(node);       rclcpp::shutdown();     return 0; }         //CMakeLists.txt cmake_minimum_required(VERSION 3.16) project(pub_sub1)   if(NOT CMAKE_CXX_STANDARD)   set(CMAKE_CXX_STANDARD 14) endif()   if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")   add_compile_options(-Wall -Wextra -Wpedantic) endif()   # find dependencies find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(std_msgs REQUIRED)   # build add_executable(sub src/sub.cpp) ament_target_dependencies(sub rclcpp std_msgs)   # Install install(TARGETS   sub   DESTINATION lib/${PROJECT_NAME}) ament_package() Colored by Color Scripter

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//jetson //pub.cpp #include "rclcpp/rclcpp.hpp" #include "std_msgs/msg/string.hpp" //#include "rclcpp/time_source.hpp" #include <memory> #include <chrono> #include <functional> using namespace std::chrono_literals;   void callback(rclcpp::Node::SharedPtr node,     rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub,     std_msgs::msg::String str) {     RCLCPP_INFO(node->get_logger(), "Publish: %s", str.data.c_str());     pub->publish(str); }   int main(int argc, char * argv[]) {     rclcpp::init(argc, argv);     auto node = std::make_shared<rclcpp::Node>("node_pub1");     auto qos_profile = rclcpp::QoS(rclcpp::KeepLast(10));     auto mypub = node->create_publisher<std_msgs::msg::String>("topic_pub1", qos_profile);       std_msgs::msg::String message;     message.data = "Hello world!";       std::function<void()> fn = std::bind(callback, node, mypub, message);     auto timer = node->create_wall_timer(100ms, fn);     rclcpp::spin(node);          rclcpp::shutdown();     return 0; }         //CMakeLists.txt cmake_minimum_required(VERSION 3.16) project(pub_sub1)   if(NOT CMAKE_CXX_STANDARD)   set(CMAKE_CXX_STANDARD 14) endif()   if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")   add_compile_options(-Wall -Wextra -Wpedantic) endif()   # find dependencies find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(std_msgs REQUIRED)   # build add_executable(pub src/pub.cpp) ament_target_dependencies(pub rclcpp std_msgs)   # Install install(TARGETS   pub   DESTINATION lib/${PROJECT_NAME}) ament_package() Colored by Color Scripter

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2. 예제1번을 수정하여 타이머를 이용하여 50msec마다 정수 값을 0부터 1씩 증가시키면서 발행하고 구독하는 패키지 psub1-2를 작성하라.

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//wsl //sub.cpp #include "rclcpp/rclcpp.hpp" #include "std_msgs/msg/int32.hpp" #include <memory> #include <functional> using std::placeholders::_1; //unbind (fn함수의 첫 번째 인자) void mysub_callback(rclcpp::Node::SharedPtr node, //std::shared_ptr<rclcpp::Node> node     const std_msgs::msg::Int32::SharedPtr msg) //std::shared_ptr<std_msgs::msg::Int32> msg {     RCLCPP_INFO(node->get_logger(), "Subscription: %d", msg->data); }   int main(int argc, char* argv[]) {     rclcpp::init(argc, argv);     auto node = std::make_shared<rclcpp::Node>("node_sub1");     auto qos_profile = rclcpp::QoS(rclcpp::KeepLast(10));       //토픽 메시지를 수신했을 때 호출되는 사용자 정의 콜백함수     std::function<void(const std_msgs::msg::Int32::SharedPtr msg)> fn;     fn = std::bind(mysub_callback, node, _1); //create_subscription함수의 세 번째 매개변수 조건                                               //반환형: void, 매개변수: MessageT     auto mysub = node->create_subscription<std_msgs::msg::Int32>("topic_pub1", qos_profile, fn);     rclcpp::spin(node);       rclcpp::shutdown();     return 0; }         //jetson //pub.cpp #include "rclcpp/rclcpp.hpp" #include "std_msgs/msg/int32.hpp" #include <memory> #include <chrono> #include <functional> using namespace std::chrono_literals;   void callback(rclcpp::Node::SharedPtr node,     rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr pub) {     static int count = 0;     std_msgs::msg::Int32 message;     message.data = count++;     RCLCPP_INFO(node->get_logger(), "Publish: %d", message.data);     pub->publish(message); }   int main(int argc, char * argv[]) {     rclcpp::init(argc, argv);     auto node = std::make_shared<rclcpp::Node>("node_pub1");     auto qos_profile = rclcpp::QoS(rclcpp::KeepLast(10));     auto mypub = node->create_publisher<std_msgs::msg::Int32>("topic_pub1", qos_profile);       std::function<void()> fn = std::bind(callback, node, mypub);     auto timer = node->create_wall_timer(50ms, fn);     rclcpp::spin(node);          rclcpp::shutdown();     return 0; }         //MakeLists.txt cmake_minimum_required(VERSION 3.16) project(pub_sub1-2)   if(NOT CMAKE_CXX_STANDARD)   set(CMAKE_CXX_STANDARD 14) endif()   if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")   add_compile_options(-Wall -Wextra -Wpedantic) endif()   # find dependencies find_package(ament_cmake REQUIRED) find_package(rclcpp REQUIRED) find_package(std_msgs REQUIRED)   # build #변경 add_executable(pub src/pub.cpp) ament_target_dependencies(pub rclcpp std_msgs)   # Install install(TARGETS   pub   DESTINATION lib/${PROJECT_NAME}) ament_package() Colored by Color Scripter

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