feat: add all code

chapt10/chapt10_ws/src/learn_qos_cpp/CMakeLists.txt

@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.8)
+project(learn_qos_cpp)
+
+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(nav_msgs REQUIRED)
+
+add_executable(reliability_test src/reliability_test.cpp)
+ament_target_dependencies(reliability_test
+  rclcpp nav_msgs 
+)
+
+install(TARGETS reliability_test
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

chapt10/chapt10_ws/src/learn_qos_cpp/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_qos_cpp</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_qos_cpp/src/reliability_test.cpp

@@ -0,0 +1,56 @@
+#include <nav_msgs/msg/odometry.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+class OdomPublisherSubscriber : public rclcpp::Node
+{
+public:
+    OdomPublisherSubscriber() : Node("odom_publisher_subscriber")
+    {
+        rclcpp::QoS qos_profile(10);                                       // 队列深度为10
+        qos_profile.reliability(RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT);   // 可靠性策略
+        qos_profile.durability(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL); // 持久性策略
+        qos_profile.history(RMW_QOS_POLICY_HISTORY_KEEP_LAST);             // 历史记录策略
+        qos_profile.deadline(rclcpp::Duration(1, 0));                      // 截止时间为1秒
+
+        odom_publisher_ = this->create_publisher<nav_msgs::msg::Odometry>(
+            "odom", qos_profile);
+
+        // // 创建发布者并设置QoS为sensor
+        // odom_publisher_ = this->create_publisher<nav_msgs::msg::Odometry>(
+        //     "odom", rclcpp::SensorDataQoS());
+
+        // 创建订阅者（默认QoS配置）队列深度设置为 5
+        // odom_subscription_ = this->create_subscription<nav_msgs::msg::Odometry>(
+        //     "odom", 5,
+        //     [this](const nav_msgs::msg::Odometry::SharedPtr msg) {
+        //       (void)msg;
+        //       RCLCPP_INFO(this->get_logger(), "收到里程计消息");
+        //     });
+
+        odom_subscription_ = this->create_subscription<nav_msgs::msg::Odometry>(
+            "odom", rclcpp::SensorDataQoS(),
+            [this](const nav_msgs::msg::Odometry::SharedPtr msg)
+            {
+                (void)msg;
+                RCLCPP_INFO(this->get_logger(), "收到里程计消息");
+            });
+
+        // 创建一个1秒的定时器，并指定回调函数
+        timer_ = this->create_wall_timer(std::chrono::seconds(1), [this]()
+                                         { odom_publisher_->publish(nav_msgs::msg::Odometry()); });
+    }
+
+private:
+    rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr odom_publisher_;
+    rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_subscription_;
+    rclcpp::TimerBase::SharedPtr timer_;
+};
+
+int main(int argc, char *argv[])
+{
+    rclcpp::init(argc, argv);
+    auto odom_node = std::make_shared<OdomPublisherSubscriber>();
+    rclcpp::spin(odom_node);
+    rclcpp::shutdown();
+    return 0;
+}