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1081225509
End-to-end exercise of the micro-ROS stack on NuttX: calls microros_transport_init() to register the configured backend, brings up rclc_support / node / publisher, publishes 30 std_msgs/Int32 messages on /nuttx_pub at 1 Hz, then tears the stack down cleanly. The example's Make.defs adds $(APPDIR)/system/microros/transport to its own CFLAGS rather than the system/microros Make.defs, so the transport-glue header path is not pushed into the global search path for unrelated apps. Serves as the smoke test for the transport layer and as a template for downstream publisher apps. Signed-off-by: Arjav Patel <arjav1528@gmail.com>
109 lines
3 KiB
C
109 lines
3 KiB
C
/****************************************************************************
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* apps/examples/microros_pub/microros_pub_main.c
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <rcl/rcl.h>
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#include <rcl/error_handling.h>
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#include <rclc/rclc.h>
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#include <rclc/executor.h>
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#include <std_msgs/msg/int32.h>
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#include <system/microros_transport.h>
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/****************************************************************************
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* Public Functions
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****************************************************************************/
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int main(int argc, FAR char *argv[])
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{
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rcl_publisher_t publisher;
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std_msgs__msg__Int32 msg;
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rcl_allocator_t allocator;
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rclc_support_t support;
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rcl_node_t node;
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int i;
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printf("microros_pub: starting\n");
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if (microros_transport_init() != 0)
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{
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printf("microros_pub: transport init failed\n");
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return 1;
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}
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allocator = rcl_get_default_allocator();
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if (rclc_support_init(&support, 0, NULL, &allocator) != RCL_RET_OK)
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{
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printf("microros_pub: rclc_support_init failed\n");
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return 1;
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}
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if (rclc_node_init_default(&node, "nuttx_node", "", &support)
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!= RCL_RET_OK)
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{
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printf("microros_pub: node init failed\n");
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return 1;
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}
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if (rclc_publisher_init_default(
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&publisher,
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&node,
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ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
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"nuttx_pub") != RCL_RET_OK)
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{
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printf("microros_pub: publisher init failed\n");
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return 1;
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}
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msg.data = 0;
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for (i = 0; i < 30; i++)
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{
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if (rcl_publish(&publisher, &msg, NULL) == RCL_RET_OK)
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{
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printf("microros_pub: sent %d\n", (int)msg.data);
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}
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else
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{
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printf("microros_pub: publish failed\n");
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}
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msg.data++;
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sleep(1);
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}
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rcl_publisher_fini(&publisher, &node);
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rcl_node_fini(&node);
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rclc_support_fini(&support);
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printf("microros_pub: done\n");
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return 0;
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}
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