add 3_demo

CMakeLists.txt

@@ -38,6 +38,16 @@ ament_target_dependencies(wpb_home_mani_sim
 "rclcpp" "std_msgs" "sensor_msgs"
 )
 
+add_executable(3_publisher_node demo_cpp/3_publisher_node.cpp)
+ament_target_dependencies(3_publisher_node 
+"rclcpp" "std_msgs"
+)
+
+add_executable(3_subscriber_node demo_cpp/3_subscriber_node.cpp)
+ament_target_dependencies(3_subscriber_node 
+"rclcpp" "std_msgs"
+)
+
 add_executable(demo_mani_ctrl demo_cpp/demo_mani_ctrl.cpp)
 ament_target_dependencies(demo_mani_ctrl
 "rclcpp" "sensor_msgs"
@@ -60,12 +70,13 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-install(DIRECTORY config launch worlds models meshes rviz src map
+install(DIRECTORY config launch demo_launch worlds models meshes rviz src map
   DESTINATION share/${PROJECT_NAME})
 
 install(
   TARGETS
     wpb_home_mani_sim
+    3_publisher_node 3_subscriber_node
     demo_mani_ctrl  
     demo_nav2_client
   DESTINATION

demo_cpp/3_publisher_node.cpp

@@ -0,0 +1,26 @@
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+
+  auto node = std::make_shared<rclcpp::Node>("publisher_node");
+
+  auto publisher = node->create_publisher<std_msgs::msg::String>("/topic", 10);
+
+  std_msgs::msg::String message;
+  message.data = "Hello World!";
+
+  rclcpp::Rate loop_rate(1);
+
+  while (rclcpp::ok()) 
+  {
+    publisher->publish(message);
+    loop_rate.sleep();
+  }
+  
+  rclcpp::shutdown();
+
+  return 0;
+}

demo_cpp/3_subscriber_node.cpp

@@ -0,0 +1,24 @@
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+std::shared_ptr<rclcpp::Node> node;
+
+void Callback(const std_msgs::msg::String::SharedPtr msg)
+{
+    RCLCPP_INFO(node->get_logger(),"Receive : %s", msg->data.c_str());
+}
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+
+ node = std::make_shared<rclcpp::Node>("subscriber_node");
+
+  auto subscriber= node->create_subscription<std_msgs::msg::String>("/topic", 10, &Callback);
+
+  rclcpp::spin(node);
+  
+  rclcpp::shutdown();
+
+  return 0;
+}

demo_launch/3_pub_sub.launch.py

@@ -0,0 +1,20 @@
+from launch_ros.actions import Node
+from launch import LaunchDescription
+
+def generate_launch_description():
+    publisher_cmd = Node(
+            package='wpr_simulation2',
+            executable='3_publisher_node',
+            name='publisher_node'
+        )
+    
+    subscriber_cmd = Node(
+            package='wpr_simulation2',
+            executable='3_subscriber_node',
+            name='subscriber_node'
+        )
+
+    ld = LaunchDescription()
+    ld.add_action(publisher_cmd)
+    ld.add_action(subscriber_cmd)
+    return ld