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sharmeyesharmeye
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Adding Trick sim examples of simple ROS2 publisher and subscriber functionality (#2010)
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‎trick_sims/ROS2/TrickPublisher/RUN_publish/input.py‎

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trick.real_time_enable()
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trick.exec_set_software_frame(0.1)
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trick.itimer_enable()
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simControlPanel = trick.SimControlPanel()
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trick.add_external_application(simControlPanel)
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‎trick_sims/ROS2/TrickPublisher/S_define‎

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#include "sim_objects/default_trick_sys.sm"
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##include "trick_publisher/include/PubNode.hh"
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class TrickPublisherSimObject : public Trick::SimObject
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{
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public:
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PubNode publish_node;
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TrickPublisherSimObject()
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{
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("default_data") publish_node.defaults();
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("initialization") publish_node.init_ros();
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(1.0, "scheduled") publish_node.yellIntoTheVoid();
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("shutdown") publish_node.shutItDown();
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}
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};
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TrickPublisherSimObject TrickPublisher;

‎trick_sims/ROS2/TrickPublisher/S_overrides.mk‎

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TRICK_CXXFLAGS += -g -I./
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rclcpp
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rcl
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rcutils
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rmw
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rcl_yaml_param_parser
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rosidl_runtime_c
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rosidl_typesupport_interface
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rcpputils
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/builtin_interfaces
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rosidl_runtime_cpp
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/tracetools
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rcl_interfaces
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/libstatistics_collector
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/statistics_msgs
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/std_msgs
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TRICK_CFLAGS=${TRICK_CXXFLAGS}
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TRICK_USER_LINK_LIBS += -L/opt/ros/humble/lib -L/opt/ros/humble/share
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TRICK_USER_LINK_LIBS += -lrclcpp
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TRICK_USER_LINK_LIBS += -lrcl
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TRICK_USER_LINK_LIBS += -lrmw
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TRICK_USER_LINK_LIBS += -lrcutils
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TRICK_USER_LINK_LIBS += -lrcpputils
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TRICK_USER_LINK_LIBS += -lstd_msgs__rosidl_typesupport_cpp
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TRICK_USER_LINK_LIBS += -lrmw_fastrtps_cpp
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TRICK_USER_LINK_LIBS += -lrmw_fastrtps_dynamic_cpp
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TRICK_USER_LINK_LIBS += -ltracetools
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TRICK_EXCLUDE += /opt/ros/humble/include/
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‎trick_sims/ROS2/TrickPublisher/trick_publisher/include/PubNode.hh‎

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#ifndef __PUBNODE_HH_
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#define __PUBNODE_HH_
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/*******************************************
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PURPOSE: Trick model for ROS2 publisher node
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LIBRARY DEPENDENCY:
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(
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(trick_publisher/src/PubNode.cc)
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)
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*******************************************/
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#include "rclcpp/rclcpp.hpp"
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#include "std_msgs/msg/string.hpp"
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#include <iostream>
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class PubNode
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{
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public:
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std::string whatToYell;
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std::string nodeName;
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std::string publicationName;
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rclcpp::Node::SharedPtr node;
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rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub;
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void defaults();
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void init_ros();
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void yellIntoTheVoid();
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void shutItDown();
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};
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#endif

‎trick_sims/ROS2/TrickPublisher/trick_publisher/src/PubNode.cc‎

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#include "trick_publisher/include/PubNode.hh"
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void SubNode::defaults()
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{
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nodeName = "trick_publisher_node";
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publicationName = "Trick_says";
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}
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void PubNode::init_ros()
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{
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whatToYell = "Trick is screaming.";
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int argc=0;
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char **argv = 0x0;
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rclcpp::init(argc,argv);
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node = std::make_shared<rclcpp::Node>(nodeName);
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pub = node->create_publisher<std_msgs::msg::String>(publicationName,10);
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}
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void PubNode::yellIntoTheVoid()
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{
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if(!pub)
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{
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std::cout << "No publisher detected.\n" << std::endl;
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return;
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}
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else if(!node)
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{
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std::cout << "No node detected.\n" << std::endl;
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return;
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}
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else
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{
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std_msgs::msg::String msg;
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msg.data = whatToYell;
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pub->publish(msg);
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}
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if(node)
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{
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rclcpp::spin_some(node);
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}
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}
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void PubNode::shutItDown()
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{
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pub.reset();
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node.reset();
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rclcpp::shutdown();
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}

‎trick_sims/ROS2/TrickSubscriber/RUN_subscribe/input.py‎

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trick.real_time_enable()
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trick.exec_set_software_frame(0.1)
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trick.itimer_enable()
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simControlPanel = trick.SimControlPanel()
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trick.add_external_application(simControlPanel)
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#TrickSubscriber.subscribe_node.subscriptionName = "topic"
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TrickSubscriber.subscribe_node.subscriptionName = "chatter"

‎trick_sims/ROS2/TrickSubscriber/S_define‎

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#include "sim_objects/default_trick_sys.sm"
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##include "trick_subscriber/include/SubNode.hh"
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class TrickSubscriberSimObject : public Trick::SimObject
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{
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public:
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SubNode subscribe_node;
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TrickSubscriberSimObject()
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{
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("default_data") subscribe_node.defaults();
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("initialization") subscribe_node.init_ros();
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(0.5, "scheduled") subscribe_node.earToTheVoid();
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("shutdown") subscribe_node.shutItDown();
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}
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};
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TrickSubscriberSimObject TrickSubscriber;

‎trick_sims/ROS2/TrickSubscriber/S_overrides.mk‎

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TRICK_CXXFLAGS += -g -I./
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rclcpp
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rcl
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rcutils
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rmw
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rcl_yaml_param_parser
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rosidl_runtime_c
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rosidl_typesupport_interface
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rcpputils
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/builtin_interfaces
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rosidl_runtime_cpp
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/tracetools
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/rcl_interfaces
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/libstatistics_collector
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/statistics_msgs
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TRICK_CXXFLAGS += -I/opt/ros/humble/include/std_msgs
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TRICK_CFLAGS=${TRICK_CXXFLAGS}
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TRICK_USER_LINK_LIBS += -L/opt/ros/humble/lib -L/opt/ros/humble/share
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TRICK_USER_LINK_LIBS += -lrclcpp
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TRICK_USER_LINK_LIBS += -lrcl
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TRICK_USER_LINK_LIBS += -lrmw
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TRICK_USER_LINK_LIBS += -lrcutils
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TRICK_USER_LINK_LIBS += -lrcpputils
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TRICK_USER_LINK_LIBS += -lstd_msgs__rosidl_typesupport_cpp
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TRICK_USER_LINK_LIBS += -lrmw_fastrtps_cpp
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TRICK_USER_LINK_LIBS += -lrmw_fastrtps_dynamic_cpp
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TRICK_USER_LINK_LIBS += -ltracetools
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TRICK_USER_LINK_LIBS += -llibstatistics_collector
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TRICK_USER_LINK_LIBS += -lstatistics_msgs__rosidl_typesupport_cpp
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TRICK_EXCLUDE += /opt/ros/humble/include/

‎trick_sims/ROS2/TrickSubscriber/trick_subscriber/include/SubNode.hh‎

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#ifndef __SUBNODE_HH_
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#define __SUBNODE_HH_
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/*******************************************
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PURPOSE: Trick model for ROS2 subscriber node
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LIBRARY DEPENDENCY:
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(
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(trick_subscriber/src/SubNode.cc)
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)
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*******************************************/
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#include "rclcpp/rclcpp.hpp"
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#include "std_msgs/msg/string.hpp"
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#include <iostream>
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class SubNode
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{
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public:
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std::string darkEchoes;
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std::string nodeName;
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std::string subscriptionName;
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rclcpp::Node::SharedPtr node;
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rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub;
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void defaults();
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void init_ros();
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void earToTheVoid();
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void shutItDown();
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};
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#endif

‎trick_sims/ROS2/TrickSubscriber/trick_subscriber/src/SubNode.cc‎

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#include "trick_subscriber/include/SubNode.hh"
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void SubNode::defaults()
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{
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nodeName = "trick_subscriber_node";
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subscriptionName = "Trick_says";
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}
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void SubNode::init_ros()
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{
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int argc=0;
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char **argv = 0x0;
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rclcpp::init(argc,argv);
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node = std::make_shared<rclcpp::Node>(nodeName);
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sub = node->create_subscription<std_msgs::msg::String>(
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subscriptionName, 10,
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[this](std_msgs::msg::String::ConstSharedPtr msg) {
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std::cout << "The void speaks: " << msg->data << std::endl;
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}
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);
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}
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void SubNode::earToTheVoid()
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{
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if(!sub)
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{
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std::cout << "No subscriber detected.\n" << std::endl;
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return;
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}
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else if(!node)
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{
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std::cout << "No subscription node detected.\n" << std::endl;
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return;
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}
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else
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{
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rclcpp::spin_some(node);
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}
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}
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void SubNode::shutItDown()
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{
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sub.reset();
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node.reset();
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rclcpp::shutdown();
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}

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