feat: add all code

chapt10/chapt10_ws/src/learn_compose/CMakeLists.txt

@@ -0,0 +1,56 @@
+cmake_minimum_required(VERSION 3.8)
+project(learn_compose)
+
+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)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+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()
+
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rclcpp_components REQUIRED)
+include_directories(include)
+add_executable(intra_process_pubsub 
+    src/intra_process_pubsub.cpp
+    src/talker.cpp
+    src/listener.cpp
+)
+ament_target_dependencies(intra_process_pubsub std_msgs rclcpp rclcpp_components)
+
+install(TARGETS intra_process_pubsub
+  DESTINATION lib/${PROJECT_NAME})
+
+
+find_package(rclcpp_components REQUIRED)
+add_library(talker_component SHARED src/talker.cpp)
+ament_target_dependencies(talker_component "std_msgs" "rclcpp" "rclcpp_components")
+rclcpp_components_register_nodes(talker_component "learn_compose::Talker")
+
+add_library(listener_component SHARED src/listener.cpp)
+ament_target_dependencies(listener_component "std_msgs" "rclcpp" "rclcpp_components")
+rclcpp_components_register_nodes(listener_component "learn_compose::Listener")
+
+install(TARGETS talker_component listener_component
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+ament_package()

chapt10/chapt10_ws/src/learn_compose/include/learn_compose/listener.hpp

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+#ifndef LEARN_COMPOSE__LISTENER_COMPONENT_HPP_
+#define LEARN_COMPOSE__LISTENER_COMPONENT_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/int32.hpp"
+
+namespace learn_compose {
+
+class Listener : public rclcpp::Node {
+public:
+  explicit Listener(const rclcpp::NodeOptions &options);
+
+private:
+  rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr sub_;
+};
+
+} // namespace learn_compose
+
+#endif // LEARN_COMPOSE__LISTENER_COMPONENT_HPP_

chapt10/chapt10_ws/src/learn_compose/include/learn_compose/talker.hpp

@@ -0,0 +1,21 @@
+#ifndef LEARN_COMPOSE__TALKER_COMPONENT_HPP_
+#define LEARN_COMPOSE__TALKER_COMPONENT_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/int32.hpp"
+
+namespace learn_compose {
+
+class Talker : public rclcpp::Node {
+public:
+  explicit Talker(const rclcpp::NodeOptions &options);
+
+private:
+  int32_t count_;
+  rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr pub_;
+  rclcpp::TimerBase::SharedPtr timer_;
+};
+
+} // namespace learn_compose
+
+#endif // LEARN_COMPOSE__TALKER_COMPONENT_HPP_

chapt10/chapt10_ws/src/learn_compose/package.xml

@@ -0,0 +1,18 @@
+<?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>learn_compose</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="87068644+fishros@users.noreply.github.com">fishros</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

chapt10/chapt10_ws/src/learn_compose/src/intra_process_pubsub.cpp

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+#include "learn_compose/listener.hpp"
+#include "learn_compose/talker.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+int main(int argc, char *argv[]) {
+  rclcpp::init(argc, argv);
+  rclcpp::executors::SingleThreadedExecutor executor;
+
+  rclcpp::NodeOptions options;           // 创建节点选项
+  options.use_intra_process_comms(true); // 使用进程内通信
+  auto talker = std::make_shared<learn_compose::Talker>(options);
+  auto listener = std::make_shared<learn_compose::Listener>(options);
+
+  executor.add_node(talker);
+  executor.add_node(listener);
+  executor.spin();
+
+  rclcpp::shutdown();
+
+  return 0;
+}

chapt10/chapt10_ws/src/learn_compose/src/listener.cpp

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+#include "learn_compose/listener.hpp"
+#include <chrono>
+
+namespace learn_compose {
+
+using namespace std::chrono_literals;
+
+Listener::Listener(const rclcpp::NodeOptions &options)
+    : Node("listener", options) {
+  sub_ = this->create_subscription<std_msgs::msg::Int32>(
+      "count", 10, [&](const std_msgs::msg::Int32::UniquePtr msg) {
+        RCLCPP_INFO(this->get_logger(), "收到数据:%d(0x%lX)", msg->data,
+                    reinterpret_cast<std::uintptr_t>(msg.get()));
+      });
+}
+} // namespace  learn_compose
+
+
+#include "rclcpp_components/register_node_macro.hpp"
+RCLCPP_COMPONENTS_REGISTER_NODE(learn_compose::Listener)

chapt10/chapt10_ws/src/learn_compose/src/talker.cpp

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+#include <chrono>
+#include "learn_compose/talker.hpp"
+
+namespace learn_compose {
+
+using namespace std::chrono_literals;
+
+Talker::Talker(const rclcpp::NodeOptions &options) : Node("talker", options) {
+  pub_ = this->create_publisher<std_msgs::msg::Int32>("count", 10);
+  auto callback = [&]() -> void {
+    std_msgs::msg::Int32::UniquePtr msg(new std_msgs::msg::Int32());
+    msg->data = count_++;
+    RCLCPP_INFO(this->get_logger(), "发布数据:%d(0x%lX)", msg->data,
+                reinterpret_cast<std::uintptr_t>(msg.get()));
+    pub_->publish(std::move(msg));
+  };
+  timer_ = this->create_wall_timer(1s, callback);
+}
+} // namespace  learn_compose
+
+
+
+#include "rclcpp_components/register_node_macro.hpp"
+RCLCPP_COMPONENTS_REGISTER_NODE(learn_compose::Talker)