Add Topic Keys tutorials

source/Tutorials/Advanced.rst

@@ -5,6 +5,8 @@ Advanced
    :maxdepth: 1
 
    Advanced/Topic-Statistics-Tutorial/Topic-Statistics-Tutorial
+   Advanced/Topic-Keys/Topic-Keys-Tutorial
+   Advanced/Topic-Keys/Filtered-Topic-Keys-Tutorial
    Advanced/Discovery-Server/Discovery-Server
    Advanced/Allocator-Template-Tutorial
    Advanced/Ament-Lint-For-Clean-Code

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

@@ -0,0 +1,125 @@
+# Copyright 2025 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 3.12)
+
+project(demo_keys_cpp)
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(example_interfaces REQUIRED)
+find_package(rcl REQUIRED)
+find_package(rcl_interfaces REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rcpputils REQUIRED)
+find_package(rcutils REQUIRED)
+find_package(rmw REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+# Generate message
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/SensorDataMsg.idl"
+  "msg/KeyedSensorDataMsg.idl"
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+# Prepare libraries
+add_library(single_topic_sensor_component src/single_topic_sensor.cpp)
+add_library(single_topic_controller_component src/single_topic_controller.cpp)
+add_library(multiple_topic_sensor_component src/multiple_topic_sensor.cpp)
+add_library(multiple_topic_controller_component src/multiple_topic_controller.cpp)
+add_library(keyed_sensor_component src/keyed_sensor.cpp)
+add_library(keyed_controller_component src/keyed_controller.cpp)
+
+# Declare components
+rclcpp_components_register_node(
+    single_topic_sensor_component
+    PLUGIN "demo_keys_cpp::SingleTopicSensorNode"
+    EXECUTABLE single_topic_sensor
+)
+
+rclcpp_components_register_node(
+    single_topic_controller_component
+    PLUGIN "demo_keys_cpp::SingleTopicControllerNode"
+    EXECUTABLE single_topic_controller
+)
+
+rclcpp_components_register_node(
+    multiple_topic_sensor_component
+    PLUGIN "demo_keys_cpp::MultipleTopicSensorNode"
+    EXECUTABLE multiple_topic_sensor
+)
+
+rclcpp_components_register_node(
+    multiple_topic_controller_component
+    PLUGIN "demo_keys_cpp::MultipleTopicControllerNode"
+    EXECUTABLE multiple_topic_controller
+)
+
+rclcpp_components_register_node(
+    keyed_sensor_component
+    PLUGIN "demo_keys_cpp::KeyedSensorNode"
+    EXECUTABLE keyed_sensor
+)
+
+rclcpp_components_register_node(
+    keyed_controller_component
+    PLUGIN "demo_keys_cpp::KeyedControllerNode"
+    EXECUTABLE keyed_controller
+)
+
+# Attach to cpp generation target
+rosidl_get_typesupport_target(cpp_typesupport_target
+  ${PROJECT_NAME} rosidl_typesupport_cpp)
+
+# Link against the generated source files
+target_link_libraries(single_topic_sensor_component "${cpp_typesupport_target}" rclcpp::rclcpp rclcpp_components::component)
+target_link_libraries(single_topic_controller_component "${cpp_typesupport_target}" rclcpp::rclcpp rclcpp_components::component)
+target_link_libraries(multiple_topic_sensor_component "${cpp_typesupport_target}" rclcpp::rclcpp rclcpp_components::component)
+target_link_libraries(multiple_topic_controller_component "${cpp_typesupport_target}" rclcpp::rclcpp rclcpp_components::component)
+target_link_libraries(keyed_sensor_component "${cpp_typesupport_target}" rclcpp::rclcpp rclcpp_components::component)
+target_link_libraries(keyed_controller_component "${cpp_typesupport_target}" rclcpp::rclcpp rclcpp_components::component)
+
+# Install
+install(TARGETS
+  single_topic_sensor_component
+  single_topic_controller_component
+  multiple_topic_sensor_component
+  multiple_topic_controller_component
+  keyed_sensor_component
+  keyed_controller_component
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+
+# Install launch files.
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()

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

@@ -0,0 +1,3 @@
+# ROS 2 Topic Keys Demo
+
+This project contains code for demonstrating the how-to-use topic keys feature in ROS 2 with Fast DDS or Connext RMWs.

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

@@ -0,0 +1,34 @@
+# Copyright 2025 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+
+  sensor_nodes = []
+
+  for id in range(1, 11):
+
+    sensor_node = Node(
+      package="demo_keys_cpp",
+      executable="keyed_sensor",
+      parameters=[
+                {"id": id}
+            ])
+
+    sensor_nodes.append(sensor_node)
+
+  return LaunchDescription(sensor_nodes)

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

@@ -0,0 +1,34 @@
+# Copyright 2025 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+
+  sensor_nodes = []
+
+  for id in range(1, 11):
+
+    sensor_node = Node(
+      package="demo_keys_cpp",
+      executable="multiple_topic_sensor",
+      parameters=[
+                {"id": id}
+            ])
+
+    sensor_nodes.append(sensor_node)
+
+  return LaunchDescription(sensor_nodes)

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

@@ -0,0 +1,34 @@
+# Copyright 2025 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+# Copyright 2025 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+
+  sensor_nodes = []
+
+  for id in range(1, 11):
+
+    sensor_node = Node(
+      package="demo_keys_cpp",
+      executable="single_topic_sensor",
+      parameters=[
+                {"id": id}
+            ])
+
+    sensor_nodes.append(sensor_node)
+
+  return LaunchDescription(sensor_nodes)

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

@@ -0,0 +1,2 @@
+int16 sensor_id
+string data

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

@@ -0,0 +1,2 @@
+int16 sensor_id
+string data

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

@@ -0,0 +1,50 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>demo_keys_cpp</name>
+  <version>0.0.0</version>
+  <description>
+    C++ demo package for showing the topic keys feature.
+  </description>
+
+  <maintainer email="[email protected]">Mario Dominguez</maintainer>
+  <license>Apache License 2.0</license>
+  <author email="[email protected]">Mario Dominguez</author>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>example_interfaces</build_depend>
+  <build_depend>rcl_interfaces</build_depend>
+  <build_depend>rcl</build_depend>
+  <build_depend>rclcpp_components</build_depend>
+  <build_depend>rclcpp</build_depend>
+  <build_depend>rcpputils</build_depend>
+  <build_depend>rcutils</build_depend>
+  <build_depend>rmw</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>example_interfaces</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>launch_xml</exec_depend>
+  <exec_depend>rcl_interfaces</exec_depend>
+  <exec_depend>rcl</exec_depend>
+  <exec_depend>rclcpp_components</exec_depend>
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rcpputils</exec_depend>
+  <exec_depend>rcutils</exec_depend>
+  <exec_depend>rmw</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_cmake_pytest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>launch</test_depend>
+  <test_depend>launch_testing</test_depend>
+  <test_depend>launch_testing_ament_cmake</test_depend>
+  <test_depend>launch_testing_ros</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

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

@@ -0,0 +1,51 @@
+// Copyright 2025 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+// Copyright 2025 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <cstdio>
+
+#include <demo_keys_cpp/msg/keyed_sensor_data_msg.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
+#include <rclcpp/rclcpp.hpp>
+
+namespace demo_keys_cpp
+{
+
+class KeyedControllerNode : public rclcpp::Node
+{
+public:
+
+  explicit KeyedControllerNode(const rclcpp::NodeOptions & options)
+  : Node("keyed_controller", options)
+  {
+    // Create a callback function for when messages are received.
+    setvbuf(stdout, NULL, _IONBF, BUFSIZ);
+    auto callback =
+      [this](demo_keys_cpp::msg::KeyedSensorDataMsg::ConstSharedPtr msg) -> void
+      {
+        RCLCPP_INFO(this->get_logger(), "Received data from sensor [%d]",(int)msg->sensor_id);
+      };
+
+    sub_ = create_subscription<demo_keys_cpp::msg::KeyedSensorDataMsg>("/robot/sensors",
+        rclcpp::QoS(rclcpp::KeepLast(1)).reliable().transient_local(),
+        callback);
+  }
+
+private:
+  rclcpp::Subscription<demo_keys_cpp::msg::KeyedSensorDataMsg>::SharedPtr sub_;
+};
+
+} // namespace demo_keys_cpp
+
+RCLCPP_COMPONENTS_REGISTER_NODE(demo_keys_cpp::KeyedControllerNode)