Component node example (PickNikRobotics#60)

example/CMakeLists.txt

@@ -2,23 +2,40 @@ cmake_minimum_required(VERSION 3.22)
 project(generate_parameter_library_example)
 
 find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
 find_package(generate_parameter_library REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
 
 generate_parameter_library(admittance_controller_parameters
   src/parameters.yaml
   include/generate_parameter_library_example/example_validators.hpp
 )
 
-add_executable(test_node
-  src/main.cpp
+add_library(minimal_publisher SHARED
+  src/minimal_publisher.cpp
+)
+target_include_directories(minimal_publisher PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+target_link_libraries(minimal_publisher
+  PUBLIC
+    admittance_controller_parameters
+    rclcpp::rclcpp
+    rclcpp_components::component
+)
+rclcpp_components_register_node(minimal_publisher
+  PLUGIN "admittance_controller::MinimalPublisher"
+  EXECUTABLE test_node
 )
 
-target_link_libraries(test_node PRIVATE
-  rclcpp::rclcpp
-  rclcpp_lifecycle::rclcpp_lifecycle
-  admittance_controller_parameters
+install(DIRECTORY include/ DESTINATION include/)
+install(TARGETS minimal_publisher admittance_controller_parameters
+  EXPORT generate_parameter_library_example_export
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
 )
 
 install(
@@ -46,4 +63,5 @@ if(BUILD_TESTING)
   target_link_libraries(test_example_gmock admittance_controller_parameters rclcpp::rclcpp)
 endif()
 
+ament_export_targets(generate_parameter_library_example_export)
 ament_package()

example/include/generate_parameter_library_example/minimal_publisher.hpp

@@ -0,0 +1,52 @@
+// Copyright 2022 PickNik Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the PickNik Inc. nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#pragma once
+
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
+
+#include <admittance_controller_parameters.hpp>
+
+namespace admittance_controller {
+
+class MinimalPublisher : public rclcpp::Node {
+ public:
+  MinimalPublisher(const rclcpp::NodeOptions& options = rclcpp::NodeOptions());
+
+ private:
+  void timer_callback();
+
+  rclcpp::TimerBase::SharedPtr timer_;
+  std::shared_ptr<admittance_controller::ParamListener> param_listener_;
+  admittance_controller::Params params_;
+};
+
+}  // namespace admittance_controller
+
+RCLCPP_COMPONENTS_REGISTER_NODE(admittance_controller::MinimalPublisher)

example/package.xml

@@ -8,8 +8,9 @@
   <license>BSD-3-Clause</license>
   <author email="[email protected]">Paul Gesel</author>
 
-  <depend>rclcpp</depend>
   <depend>generate_parameter_library</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 

example/src/minimal_publisher.cpp

@@ -0,0 +1,74 @@
+// Copyright 2022 PickNik Inc.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the PickNik Inc. nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+#include "generate_parameter_library_example/minimal_publisher.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <admittance_controller_parameters.hpp>
+
+using namespace std::chrono_literals;
+
+namespace admittance_controller {
+
+MinimalPublisher::MinimalPublisher(const rclcpp::NodeOptions& options)
+    : Node("admittance_controller", options) {
+  timer_ = create_wall_timer(
+      500ms, std::bind(&MinimalPublisher::timer_callback, this));
+  param_listener_ =
+      std::make_shared<ParamListener>(get_node_parameters_interface());
+  params_ = param_listener_->get_params();
+
+  StackParams s_params = param_listener_->get_stack_params();
+
+  RCLCPP_INFO(get_logger(), "Initial control frame parameter is: '%s'",
+              params_.control.frame.id.c_str());
+  RCLCPP_INFO(get_logger(), "fixed string is: '%s'",
+              std::string{params_.fixed_string}.c_str());
+  const tcb::span<double> fixed_array = params_.fixed_array;
+  for (auto d : fixed_array) {
+    RCLCPP_INFO(get_logger(), "value: '%s'", std::to_string(d).c_str());
+  }
+}
+
+void MinimalPublisher::timer_callback() {
+  if (param_listener_->is_old(params_)) {
+    param_listener_->refresh_dynamic_parameters();
+    params_ = param_listener_->get_params();
+    RCLCPP_INFO(get_logger(), "New control frame parameter is: '%s'",
+                params_.control.frame.id.c_str());
+    RCLCPP_INFO(get_logger(), "fixed string is: '%s'",
+                std::string{params_.fixed_string}.c_str());
+    const tcb::span<double> fixed_array = params_.fixed_array;
+    for (auto d : fixed_array) {
+      RCLCPP_INFO(get_logger(), "value: '%s'", std::to_string(d).c_str());
+    }
+  }
+}
+
+}  // namespace admittance_controller