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Add Topic Keys tutorial
Signed-off-by: Mario Dominguez <[email protected]>
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‎source/Tutorials/Advanced.rst

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:maxdepth: 1
66

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Advanced/Topic-Statistics-Tutorial/Topic-Statistics-Tutorial
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Advanced/Topic-Keys/Topic-Keys-Tutorial
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Advanced/Discovery-Server/Discovery-Server
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Advanced/Allocator-Template-Tutorial
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Advanced/Ament-Lint-For-Clean-Code

‎source/Tutorials/Advanced/Topic-Keys/Topic-Keys-Tutorial.rst

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‎source/Tutorials/Advanced/Topic-Keys/figures/keyed-topics.gif

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‎source/Tutorials/Advanced/Topic-Keys/figures/keyed_topic.gif

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‎source/Tutorials/Advanced/Topic-Keys/figures/multiple_topics.gif

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‎source/Tutorials/Advanced/Topic-Keys/figures/single_topics.gif

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‎source/Tutorials/Advanced/Topic-Keys/figures/tutorial_diagram.svg

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‎source/Tutorials/Advanced/Topic-Keys/resources/Basic/CMakeLists.txt

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# Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# 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,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 3.12)
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project(demo_keys_cpp)
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# Default to C++17
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(example_interfaces REQUIRED)
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find_package(rcl REQUIRED)
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find_package(rcl_interfaces REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(rcpputils REQUIRED)
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find_package(rcutils REQUIRED)
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find_package(rmw REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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# Generate message
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/SensorDataMsg.idl"
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"msg/KeyedSensorDataMsg.idl"
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)
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ament_export_dependencies(rosidl_default_runtime)
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# Prepare libraries
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add_library(single_topic_sensor_component src/single_topic_sensor.cpp)
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ament_target_dependencies(single_topic_sensor_component rclcpp rclcpp_components)
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add_library(single_topic_controller_component src/single_topic_controller.cpp)
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ament_target_dependencies(single_topic_controller_component rclcpp rclcpp_components)
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add_library(multiple_topic_sensor_component src/multiple_topic_sensor.cpp)
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ament_target_dependencies(multiple_topic_sensor_component rclcpp rclcpp_components)
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add_library(multiple_topic_controller_component src/multiple_topic_controller.cpp)
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ament_target_dependencies(multiple_topic_controller_component rclcpp rclcpp_components)
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add_library(keyed_sensor_component src/keyed_sensor.cpp)
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ament_target_dependencies(keyed_sensor_component rclcpp rclcpp_components)
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add_library(keyed_controller_component src/keyed_controller.cpp)
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ament_target_dependencies(keyed_controller_component rclcpp rclcpp_components)
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# Declare components
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rclcpp_components_register_node(
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single_topic_sensor_component
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PLUGIN "demo_keys_cpp::SingleTopicSensorNode"
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EXECUTABLE single_topic_sensor
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)
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rclcpp_components_register_node(
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single_topic_controller_component
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PLUGIN "demo_keys_cpp::SingleTopicControllerNode"
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EXECUTABLE single_topic_controller
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)
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rclcpp_components_register_node(
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multiple_topic_sensor_component
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PLUGIN "demo_keys_cpp::MultipleTopicSensorNode"
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EXECUTABLE multiple_topic_sensor
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)
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rclcpp_components_register_node(
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multiple_topic_controller_component
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PLUGIN "demo_keys_cpp::MultipleTopicControllerNode"
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EXECUTABLE multiple_topic_controller
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)
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rclcpp_components_register_node(
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keyed_sensor_component
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PLUGIN "demo_keys_cpp::KeyedSensorNode"
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EXECUTABLE keyed_sensor
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)
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rclcpp_components_register_node(
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keyed_controller_component
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PLUGIN "demo_keys_cpp::KeyedControllerNode"
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EXECUTABLE keyed_controller
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)
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# Attach to cpp generation target
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rosidl_get_typesupport_target(cpp_typesupport_target
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${PROJECT_NAME} rosidl_typesupport_cpp)
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# Link against the generated source files
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target_link_libraries(single_topic_sensor_component "${cpp_typesupport_target}")
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target_link_libraries(single_topic_controller_component "${cpp_typesupport_target}")
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target_link_libraries(multiple_topic_sensor_component "${cpp_typesupport_target}")
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target_link_libraries(multiple_topic_controller_component "${cpp_typesupport_target}")
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target_link_libraries(keyed_sensor_component "${cpp_typesupport_target}")
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target_link_libraries(keyed_controller_component "${cpp_typesupport_target}")
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# Install
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install(TARGETS
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single_topic_sensor_component
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single_topic_controller_component
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multiple_topic_sensor_component
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multiple_topic_controller_component
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keyed_sensor_component
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keyed_controller_component
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin)
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# Install launch files.
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install(DIRECTORY
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launch
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DESTINATION share/${PROJECT_NAME}/
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)
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ament_package()

‎source/Tutorials/Advanced/Topic-Keys/resources/Basic/README.md

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# Fast DDS - ROS 2 Topic Keys Demo
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This project contains code for demonstrating the how-to-use topic keys feature in ROS 2 with Fast DDS.

‎source/Tutorials/Advanced/Topic-Keys/resources/Basic/launch/keyed_sensors_launch.py

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# Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# 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,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def generate_launch_description():
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sensor_nodes = []
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for id in range(1, 11):
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sensor_node = Node(
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package="demo_keys_cpp",
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executable="keyed_sensor",
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parameters=[
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{"id": id}
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])
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sensor_nodes.append(sensor_node)
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return LaunchDescription(sensor_nodes)

‎source/Tutorials/Advanced/Topic-Keys/resources/Basic/launch/multiple_topic_sensors_launch.py

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# Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# 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,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def generate_launch_description():
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sensor_nodes = []
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for id in range(1, 11):
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sensor_node = Node(
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package="demo_keys_cpp",
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executable="multiple_topic_sensor",
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parameters=[
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{"id": id}
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])
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sensor_nodes.append(sensor_node)
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return LaunchDescription(sensor_nodes)

‎source/Tutorials/Advanced/Topic-Keys/resources/Basic/launch/single_topic_sensors_launch.py

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# Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# 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,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def generate_launch_description():
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sensor_nodes = []
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for id in range(1, 11):
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sensor_node = Node(
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package="demo_keys_cpp",
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executable="single_topic_sensor",
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parameters=[
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{"id": id}
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])
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sensor_nodes.append(sensor_node)
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return LaunchDescription(sensor_nodes)

‎source/Tutorials/Advanced/Topic-Keys/resources/Basic/msg/KeyedSensorDataMsg.msg

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int16 sensor_id
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string data

‎source/Tutorials/Advanced/Topic-Keys/resources/Basic/msg/SensorDataMsg.msg

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int16 sensor_id
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string data

‎source/Tutorials/Advanced/Topic-Keys/resources/Basic/package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>demo_keys_cpp</name>
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<version>0.0.0</version>
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<description>
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C++ demo package for showing the topic keys feature.
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</description>
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<maintainer email="[email protected]">Mario Dominguez</maintainer>
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<license>Apache License 2.0</license>
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<author email="[email protected]">Mario Dominguez</author>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<build_depend>example_interfaces</build_depend>
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<build_depend>rcl_interfaces</build_depend>
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<build_depend>rcl</build_depend>
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<build_depend>rclcpp_components</build_depend>
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<build_depend>rclcpp</build_depend>
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<build_depend>rcpputils</build_depend>
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<build_depend>rcutils</build_depend>
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<build_depend>rmw</build_depend>
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<build_depend>rosidl_default_generators</build_depend>
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<exec_depend>example_interfaces</exec_depend>
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<exec_depend>launch_ros</exec_depend>
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<exec_depend>launch_xml</exec_depend>
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<exec_depend>rcl_interfaces</exec_depend>
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<exec_depend>rcl</exec_depend>
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<exec_depend>rclcpp_components</exec_depend>
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<exec_depend>rclcpp</exec_depend>
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<exec_depend>rcpputils</exec_depend>
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<exec_depend>rcutils</exec_depend>
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<exec_depend>rmw</exec_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<test_depend>ament_cmake_pytest</test_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<test_depend>launch</test_depend>
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<test_depend>launch_testing</test_depend>
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<test_depend>launch_testing_ament_cmake</test_depend>
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<test_depend>launch_testing_ros</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

‎source/Tutorials/Advanced/Topic-Keys/resources/Basic/src/keyed_controller.cpp

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// Copyright 2024 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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// Copyright 2024 Open Source Robotics Foundation, Inc.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// 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,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <demo_keys_cpp/msg/keyed_sensor_data_msg.hpp>
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#include <rclcpp_components/register_node_macro.hpp>
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#include <rclcpp/rclcpp.hpp>
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namespace demo_keys_cpp
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{
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class KeyedControllerNode : public rclcpp::Node
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{
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public:
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explicit KeyedControllerNode(const rclcpp::NodeOptions & options)
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: Node("keyed_controller", options)
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{
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// Create a callback function for when messages are received.
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setvbuf(stdout, NULL, _IONBF, BUFSIZ);
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auto callback =
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[this](demo_keys_cpp::msg::KeyedSensorDataMsg::ConstSharedPtr msg) -> void
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{
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RCLCPP_INFO(this->get_logger(), "Received data from sensor [%d]",(int)msg->sensor_id);
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};
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sub_ = create_subscription<demo_keys_cpp::msg::KeyedSensorDataMsg>("/robot/sensors",
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rclcpp::QoS(rclcpp::KeepLast(1)).reliable().transient_local(),
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callback);
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}
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private:
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rclcpp::Subscription<demo_keys_cpp::msg::KeyedSensorDataMsg>::SharedPtr sub_;
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};
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} // namespace demo_keys_cpp
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RCLCPP_COMPONENTS_REGISTER_NODE(demo_keys_cpp::KeyedControllerNode)

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