![]() |
rclc_examples package from rclc reporclc rclc_examples rclc_lifecycle rclc_parameter |
|
Package Summary
Tags | No category tags. |
Version | 4.0.1 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/rclc.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2022-08-23 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jan Staschulat
Authors
- Jan Staschulat
- Arne Nordmann
General information about this repository, including legal information, build instructions and known issues/limitations, are given in README.md in the repository root.
The rclc_examples package
The rclc_examples package provides examples for using the RCLC-Exector and convenience functions. - example_executor.c provides the example for the RCLC-Executor. It creates one publisher and one subscriber and configures the RCLC-Executor accordingly. Then the spin_some() function is demonstrated. - example_executor_convenience.c provides the example for the RCLC-Executor with the convenience functions from rclc. It creates one publisher and one subscriber and configures the RCLC-Executor accordingly. Then the spin_some() function is demonstrated. - example_executor_trigger.c demonstrates the trigger condition of the RCLC-Executor. - example_service_node.c implements a service node with the RCLC-Executor. - example_client_node.c implements a client node with RCLC-Executor.
The reduction of code lines for configuring the necessary RCL objects for RCLC-Executor directly with RCL objects compared to using the convenience functions is about 24%: - example_executor.c: 92 LoC (lines 56-148) - example_executor_convenience.c: 70 LoC (line 17 + lines 57-126)
counting only the lines of code in which the RCL objects are defined).
Example RCLC-Executor using RCL objects directly
Step 1 Setup ROS 2 Workspace
Open a terminal with ROS 2 workspace. Assuming that the ROS 2 installation resides in /opt/ros/ROSDISTRO
, setup the ROS2 environment by:
~$ source /opt/ros/$ROSDISTRO/setup.bash
Step 2 Build the package
Download and build the the packages rclc
and rclc_examples
in a workspace (for example ros2_ws
). Then source the workspace:
~/ros2_ws/$ colcon build --packages-up-to rclc_examples
~/ros2_ws/$ source ./install/local_setup.bash
It should build these packages: - rcl_yaml_param_parser - rcl - rclc - rclc_examples
Step 3 Run the example executor.
The binary of the example is example_executor
.
~/ros2_ws/$ ros2 run rclc_examples example_executor
The publisher publishes the message Hello World!
in topic_0
at a rate of 1Hz and the subscriber prints out in the callback Callback: I heard: Hello World!
.
You should see the following output:
Created timer with timeout 1000 ms.
Created subscriber topic_0:
Debug: number of DDS handles: 2
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Example RCLC-Executor with convenience functions
Step 1 Setup ROS 2 Workspace
Open a terminal with ROS 2 workspace. Assuming that the ROS 2 installation resides in /opt/ros/eloquent
, setup
the ROS2 environment by:
~$ source /opt/ros/eloquent/setup.bash
Step 2 Build the package
Download and build the the packages rclc
and rclc_examples
in a workspace (for example ros2_ws
). Then source the workspace:
~/ros2_ws/$ colcon build --packages-up-to rclc_examples
~/ros2_ws/$ source ./install/local_setup.bash
It should build these packages: - rcl_yaml_param_parser - rcl - rclc - rclc_examples
Step 3 Run the example executor with the convenience functions from the package rclc.
The binary of the example is example_executor_convenience
.
~/ros2_ws/$ ros2 run rclc_examples example_executor_convenience
The same setup as in the example_executor, just using the RCLC convenience functions. You should see the exact same output:
Created timer with timeout 1000 ms.
Created subscriber topic_0:
Debug: number of DDS handles: 2
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Example RCLC-Executor with trigger function
Step 1, Step 2 To setup ROS2 workspace and build the package refer to Step 1 and Step 2 in the Example RCLC-Executor.
Step 3
This example implements two RCLC Executors, one for publishing executor_pub
and one for subscribing messages executor_sub
.
The Executor executor_pub
publishes string topic_0
every 100ms (using a timer with 100ms) and an integer topic_1
every 1000ms (using a timer with 1000ms).
With the trigger condition rclc_executor_trigger_any
this executor publishes whenenver any timer is ready.
Executor executor_sub
has two subscriptions, my_string_sub
and my_int_sub
subscribing to topic_0
and topic_1
, respectivly.
With the trigger condition rclc_executor_trigger_all
this executor starts evaluating the callbacks only when both messages have arrived. To make this clearly visible, we set the quality of service parameter of the length of the DDS-queue to 0 for subscription my_string_sub
, which subscribes to topic_0
with the higher rate.
my_subscription_options.qos.depth = 0
rc = rcl_subscription_init(
&my_string_sub,
&my_node,
my_type_support,
topic_name,
&my_subscription_options);
Consequently, the messages "in between" are lost.
The binary of the example is example_executor_trigger
. You run the example with:
~/ros2_ws/$ ros2 run rclc_examples example_executor_trigger
Then you should see the following output:
Created timer 'my_string_timer' with timeout 100 ms.
Created 'my_int_timer' with timeout 1000 ms.
Created subscriber topic_0:
Created subscriber topic_1:
Executor_pub: number of DDS handles: 2
Executor_sub: number of DDS handles: 2
Published: Hello World! 0
Published: Hello World! 1
Published: Hello World! 2
Published: Hello World! 3
Published: Hello World! 4
Published: Hello World! 5
Published: Hello World! 6
Published: Hello World! 7
Published: Hello World! 8
Published: Hello World! 9
Published: 0
Callback 1: Hello World! 9 <---
Callback 2: 0 <---
Published: Hello World! 10
Published: Hello World! 11
Published: Hello World! 12
Published: Hello World! 13
Published: Hello World! 14
Published: Hello World! 15
Published: Hello World! 16
Published: Hello World! 17
Published: Hello World! 18
Published: Hello World! 19
Published: 1
Callback 1: Hello World! 19 <---
Callback 2: 1 <---
The results show, that the callbacks are triggered together, only when the integer message topic_1
was published and received. At that moment the current string message of the topic_0
is processed as well.
Example Service/client with RCLC-Executor
Step 1, Step 2 To setup ROS2 workspace and build the package refer to Step 1 and Step 2 in the Example RCLC-Executor.
Step 3 Open two Terminal windows and source the ROS 2 distribution/install/setup.bash and rclc repository/install/local_setup.bash.
window 1: start service node
$ ros2 run rclc_examples example_service_node
INFO: rcl_wait timeout 10 ms
Service request value: 24 + 42. Seq 1
Received service response 24 + 42 = 66. Seq 1
```C
window 2: start client node
```C
~$ ros2 run rclc_examples example_client_node
Send service request 24 + 42. Seq 1
INFO: rcl_wait timeout 10 ms
```C
A request message is sent from the client node to the service node and answered.
Changelog for package rclc_examples
4.0.1 (2022-07-20)
- no changes
4.0.0 (2022-04-28)
- updated version for Humble release
3.0.8 (2022-04-14)
- Fix RCLC int parameter get (cherry-pick) (#272)
- Upgrade parameters (#274)
3.0.7 (2022-02-17)
- no changes
3.0.6 (2022-01-25)
- Create service context in main (#224)
- Add thread dependency to examples (Rolling) (#237)
3.0.5 (2021-11-23)
- no change
3.0.4 (2021-11-17)
- added pingpong example (#172)
- Provide lifecycle services in the rclc lifecycle nodes (#51)
- RCLC Actions Implementation (#170)
3.0.3 (2021-07-28)
- Version bump
3.0.2 (2021-07-26)
- Version bump
3.0.1 (2021-07-17)
- Added example for parameter server
- Added example for executor prepare API
- Added example for quality of service entity creation API
- Added example for subscription with context
2.0.0 (2021-04-23)
- added codecov support
- new API of rcl_lifecycle in Rolling required major version bump
1.0.1 (2021-03-29)
- Windows port
- Compatibility sleep function (Windows, POSIX-OS)
- Fixed RCL lifecycle API change for Rolling
1.0.0 (2021-03-04)
- Updated version
0.1.7 (2021-01-20)
- Updated version
0.1.6 (2021-01-20)
- Updated version
0.1.5 (2020-12-11)
- Added support for services,clients and guard_conditions to rclc executor
0.1.4 (2020-11-25)
- Fixed error in bloom release
0.1.3 (2020-11-23)
- Added rclc_lifecycle package
0.1.2 (2020-05-19)
- Fixed compiler errors for bloom release
0.1.1 (2020-05-14)
- Initial release
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | rcl | |
1 | rclc | |
1 | rclc_lifecycle | |
2 | std_msgs | |
1 | lifecycle_msgs | |
1 | example_interfaces | |
1 | ament_cmake_ros | |
1 | rclc_parameter |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rclc_examples at answers.ros.org
![]() |
rclc_examples package from rclc reporclc rclc_examples rclc_lifecycle rclc_parameter |
|
Package Summary
Tags | No category tags. |
Version | 1.1.1 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/rclc.git |
VCS Type | git |
VCS Version | foxy |
Last Updated | 2022-07-20 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jan Staschulat
Authors
- Jan Staschulat
- Arne Nordmann
General information about this repository, including legal information, build instructions and known issues/limitations, are given in README.md in the repository root.
The rclc_examples package
The rclc_examples package provides examples for using the RCLC-Exector and convenience functions. - example_executor.c provides the example for the RCLC-Executor. It creates one publisher and one subscriber and configures the RCLC-Executor accordingly. Then the spin_some() function is demonstrated. - example_executor_convenience.c provides the example for the RCLC-Executor with the convenience functions from rclc. It creates one publisher and one subscriber and configures the RCLC-Executor accordingly. Then the spin_some() function is demonstrated. - example_executor_trigger.c demonstrates the trigger condition of the RCLC-Executor. - example_service_node.c implements a service node with the RCLC-Executor. - example_client_node.c implements a client node with RCLC-Executor.
The reduction of code lines for configuring the necessary RCL objects for RCLC-Executor directly with RCL objects compared to using the convenience functions is about 24%: - example_executor.c: 92 LoC (lines 56-148) - example_executor_convenience.c: 70 LoC (line 17 + lines 57-126)
counting only the lines of code in which the RCL objects are defined).
Example RCLC-Executor using RCL objects directly
Step 1 Setup ROS 2 Workspace
Open a terminal with ROS 2 workspace. Assuming that the ROS 2 installation resides in /opt/ros/ROSDISTRO
, setup the ROS2 environment by:
~$ source /opt/ros/$ROSDISTRO/setup.bash
Step 2 Build the package
Download and build the the packages rclc
and rclc_examples
in a workspace (for example ros2_ws
). Then source the workspace:
~/ros2_ws/$ colcon build --packages-up-to rclc_examples
~/ros2_ws/$ source ./install/local_setup.bash
It should build these packages: - rcl_yaml_param_parser - rcl - rclc - rclc_examples
Step 3 Run the example executor.
The binary of the example is example_executor
.
~/ros2_ws/$ ros2 run rclc_examples example_executor
The publisher publishes the message Hello World!
in topic_0
at a rate of 1Hz and the subscriber prints out in the callback Callback: I heard: Hello World!
.
You should see the following output:
Created timer with timeout 1000 ms.
Created subscriber topic_0:
Debug: number of DDS handles: 2
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Example RCLC-Executor with convenience functions
Step 1 Setup ROS 2 Workspace
Open a terminal with ROS 2 workspace. Assuming that the ROS 2 installation resides in /opt/ros/eloquent
, setup
the ROS2 environment by:
~$ source /opt/ros/eloquent/setup.bash
Step 2 Build the package
Download and build the the packages rclc
and rclc_examples
in a workspace (for example ros2_ws
). Then source the workspace:
~/ros2_ws/$ colcon build --packages-up-to rclc_examples
~/ros2_ws/$ source ./install/local_setup.bash
It should build these packages: - rcl_yaml_param_parser - rcl - rclc - rclc_examples
Step 3 Run the example executor with the convenience functions from the package rclc.
The binary of the example is example_executor_convenience
.
~/ros2_ws/$ ros2 run rclc_examples example_executor_convenience
The same setup as in the example_executor, just using the RCLC convenience functions. You should see the exact same output:
Created timer with timeout 1000 ms.
Created subscriber topic_0:
Debug: number of DDS handles: 2
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Example RCLC-Executor with trigger function
Step 1, Step 2 To setup ROS2 workspace and build the package refer to Step 1 and Step 2 in the Example RCLC-Executor.
Step 3
This example implements two RCLC Executors, one for publishing executor_pub
and one for subscribing messages executor_sub
.
The Executor executor_pub
publishes string topic_0
every 100ms (using a timer with 100ms) and an integer topic_1
every 1000ms (using a timer with 1000ms).
With the trigger condition rclc_executor_trigger_any
this executor publishes whenenver any timer is ready.
Executor executor_sub
has two subscriptions, my_string_sub
and my_int_sub
subscribing to topic_0
and topic_1
, respectivly.
With the trigger condition rclc_executor_trigger_all
this executor starts evaluating the callbacks only when both messages have arrived. To make this clearly visible, we set the quality of service parameter of the length of the DDS-queue to 0 for subscription my_string_sub
, which subscribes to topic_0
with the higher rate.
my_subscription_options.qos.depth = 0
rc = rcl_subscription_init(
&my_string_sub,
&my_node,
my_type_support,
topic_name,
&my_subscription_options);
Consequently, the messages "in between" are lost.
The binary of the example is example_executor_trigger
. You run the example with:
~/ros2_ws/$ ros2 run rclc_examples example_executor_trigger
Then you should see the following output:
Created timer 'my_string_timer' with timeout 100 ms.
Created 'my_int_timer' with timeout 1000 ms.
Created subscriber topic_0:
Created subscriber topic_1:
Executor_pub: number of DDS handles: 2
Executor_sub: number of DDS handles: 2
Published: Hello World! 0
Published: Hello World! 1
Published: Hello World! 2
Published: Hello World! 3
Published: Hello World! 4
Published: Hello World! 5
Published: Hello World! 6
Published: Hello World! 7
Published: Hello World! 8
Published: Hello World! 9
Published: 0
Callback 1: Hello World! 9 <---
Callback 2: 0 <---
Published: Hello World! 10
Published: Hello World! 11
Published: Hello World! 12
Published: Hello World! 13
Published: Hello World! 14
Published: Hello World! 15
Published: Hello World! 16
Published: Hello World! 17
Published: Hello World! 18
Published: Hello World! 19
Published: 1
Callback 1: Hello World! 19 <---
Callback 2: 1 <---
The results show, that the callbacks are triggered together, only when the integer message topic_1
was published and received. At that moment the current string message of the topic_0
is processed as well.
Example Service/client with RCLC-Executor
Step 1, Step 2 To setup ROS2 workspace and build the package refer to Step 1 and Step 2 in the Example RCLC-Executor.
Step 3 Open two Terminal windows and source the ROS 2 distribution/install/setup.bash and rclc repository/install/local_setup.bash.
window 1: start service node
$ ros2 run rclc_examples example_service_node
INFO: rcl_wait timeout 10 ms
Service request value: 24 + 42. Seq 1
Received service response 24 + 42 = 66. Seq 1
```C
window 2: start client node
```C
~$ ros2 run rclc_examples example_client_node
Send service request 24 + 42. Seq 1
INFO: rcl_wait timeout 10 ms
```C
A request message is sent from the client node to the service node and answered.
Changelog for package rclc_examples
1.1.1 (2022-03-16)
- Backport parameters (#263)
1.1.0 (2022-01-25)
- Feature request: check for valid ros context in spin_some (#165) (#167)
- Ignoring unsuccessful SERVICE_TAKE (#175) (#177)
- added pingpong example (backport #172) (#187)
- [backport galactic, foxy] data_available optimization (backport #212) (#213)
1.0.2 (2021-07-17)
- Bumped version (tag with version 1.0.1 already exists)
1.0.1 (2021-07-17)
- Added example for quality of service entity creation API
- Added example for executor prepare API
- Added example for subscription with context
1.0.0 (2021-03-04)
- Updated version
0.1.7 (2021-01-20)
- Updated version
0.1.6 (2021-01-20)
- Updated version
0.1.5 (2020-12-11)
- Added support for services,clients and guard_conditions to rclc executor
0.1.4 (2020-11-25)
- Fixed error in bloom release
0.1.3 (2020-11-23)
- Added rclc_lifecycle package
0.1.2 (2020-05-19)
- Fixed compiler errors for bloom release
0.1.1 (2020-05-14)
- Initial release
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | rcl | |
1 | rclc | |
1 | rclc_lifecycle | |
2 | std_msgs | |
1 | lifecycle_msgs | |
1 | example_interfaces | |
1 | ament_cmake_ros | |
1 | rclc_parameter |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rclc_examples at answers.ros.org
![]() |
rclc_examples package from rclc reporclc rclc_examples rclc_lifecycle rclc_parameter |
|
Package Summary
Tags | No category tags. |
Version | 3.0.8 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/rclc.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2022-10-04 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jan Staschulat
Authors
- Jan Staschulat
- Arne Nordmann
General information about this repository, including legal information, build instructions and known issues/limitations, are given in README.md in the repository root.
The rclc_examples package
The rclc_examples package provides examples for using the RCLC-Exector and convenience functions. - example_executor.c provides the example for the RCLC-Executor. It creates one publisher and one subscriber and configures the RCLC-Executor accordingly. Then the spin_some() function is demonstrated. - example_executor_convenience.c provides the example for the RCLC-Executor with the convenience functions from rclc. It creates one publisher and one subscriber and configures the RCLC-Executor accordingly. Then the spin_some() function is demonstrated. - example_executor_trigger.c demonstrates the trigger condition of the RCLC-Executor. - example_service_node.c implements a service node with the RCLC-Executor. - example_client_node.c implements a client node with RCLC-Executor.
The reduction of code lines for configuring the necessary RCL objects for RCLC-Executor directly with RCL objects compared to using the convenience functions is about 24%: - example_executor.c: 92 LoC (lines 56-148) - example_executor_convenience.c: 70 LoC (line 17 + lines 57-126)
counting only the lines of code in which the RCL objects are defined).
Example RCLC-Executor using RCL objects directly
Step 1 Setup ROS 2 Workspace
Open a terminal with ROS 2 workspace. Assuming that the ROS 2 installation resides in /opt/ros/ROSDISTRO
, setup the ROS2 environment by:
~$ source /opt/ros/$ROSDISTRO/setup.bash
Step 2 Build the package
Download and build the the packages rclc
and rclc_examples
in a workspace (for example ros2_ws
). Then source the workspace:
~/ros2_ws/$ colcon build --packages-up-to rclc_examples
~/ros2_ws/$ source ./install/local_setup.bash
It should build these packages: - rcl_yaml_param_parser - rcl - rclc - rclc_examples
Step 3 Run the example executor.
The binary of the example is example_executor
.
~/ros2_ws/$ ros2 run rclc_examples example_executor
The publisher publishes the message Hello World!
in topic_0
at a rate of 1Hz and the subscriber prints out in the callback Callback: I heard: Hello World!
.
You should see the following output:
Created timer with timeout 1000 ms.
Created subscriber topic_0:
Debug: number of DDS handles: 2
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Example RCLC-Executor with convenience functions
Step 1 Setup ROS 2 Workspace
Open a terminal with ROS 2 workspace. Assuming that the ROS 2 installation resides in /opt/ros/eloquent
, setup
the ROS2 environment by:
~$ source /opt/ros/eloquent/setup.bash
Step 2 Build the package
Download and build the the packages rclc
and rclc_examples
in a workspace (for example ros2_ws
). Then source the workspace:
~/ros2_ws/$ colcon build --packages-up-to rclc_examples
~/ros2_ws/$ source ./install/local_setup.bash
It should build these packages: - rcl_yaml_param_parser - rcl - rclc - rclc_examples
Step 3 Run the example executor with the convenience functions from the package rclc.
The binary of the example is example_executor_convenience
.
~/ros2_ws/$ ros2 run rclc_examples example_executor_convenience
The same setup as in the example_executor, just using the RCLC convenience functions. You should see the exact same output:
Created timer with timeout 1000 ms.
Created subscriber topic_0:
Debug: number of DDS handles: 2
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Example RCLC-Executor with trigger function
Step 1, Step 2 To setup ROS2 workspace and build the package refer to Step 1 and Step 2 in the Example RCLC-Executor.
Step 3
This example implements two RCLC Executors, one for publishing executor_pub
and one for subscribing messages executor_sub
.
The Executor executor_pub
publishes string topic_0
every 100ms (using a timer with 100ms) and an integer topic_1
every 1000ms (using a timer with 1000ms).
With the trigger condition rclc_executor_trigger_any
this executor publishes whenenver any timer is ready.
Executor executor_sub
has two subscriptions, my_string_sub
and my_int_sub
subscribing to topic_0
and topic_1
, respectivly.
With the trigger condition rclc_executor_trigger_all
this executor starts evaluating the callbacks only when both messages have arrived. To make this clearly visible, we set the quality of service parameter of the length of the DDS-queue to 0 for subscription my_string_sub
, which subscribes to topic_0
with the higher rate.
my_subscription_options.qos.depth = 0
rc = rcl_subscription_init(
&my_string_sub,
&my_node,
my_type_support,
topic_name,
&my_subscription_options);
Consequently, the messages "in between" are lost.
The binary of the example is example_executor_trigger
. You run the example with:
~/ros2_ws/$ ros2 run rclc_examples example_executor_trigger
Then you should see the following output:
Created timer 'my_string_timer' with timeout 100 ms.
Created 'my_int_timer' with timeout 1000 ms.
Created subscriber topic_0:
Created subscriber topic_1:
Executor_pub: number of DDS handles: 2
Executor_sub: number of DDS handles: 2
Published: Hello World! 0
Published: Hello World! 1
Published: Hello World! 2
Published: Hello World! 3
Published: Hello World! 4
Published: Hello World! 5
Published: Hello World! 6
Published: Hello World! 7
Published: Hello World! 8
Published: Hello World! 9
Published: 0
Callback 1: Hello World! 9 <---
Callback 2: 0 <---
Published: Hello World! 10
Published: Hello World! 11
Published: Hello World! 12
Published: Hello World! 13
Published: Hello World! 14
Published: Hello World! 15
Published: Hello World! 16
Published: Hello World! 17
Published: Hello World! 18
Published: Hello World! 19
Published: 1
Callback 1: Hello World! 19 <---
Callback 2: 1 <---
The results show, that the callbacks are triggered together, only when the integer message topic_1
was published and received. At that moment the current string message of the topic_0
is processed as well.
Example Service/client with RCLC-Executor
Step 1, Step 2 To setup ROS2 workspace and build the package refer to Step 1 and Step 2 in the Example RCLC-Executor.
Step 3 Open two Terminal windows and source the ROS 2 distribution/install/setup.bash and rclc repository/install/local_setup.bash.
window 1: start service node
$ ros2 run rclc_examples example_service_node
INFO: rcl_wait timeout 10 ms
Service request value: 24 + 42. Seq 1
Received service response 24 + 42 = 66. Seq 1
```C
window 2: start client node
```C
~$ ros2 run rclc_examples example_client_node
Send service request 24 + 42. Seq 1
INFO: rcl_wait timeout 10 ms
```C
A request message is sent from the client node to the service node and answered.
Changelog for package rclc_examples
3.0.8 (2022-04-14)
- Fix RCLC int parameter get (cherry-pick) (#272)
- Upgrade parameters (#274)
3.0.7 (2022-02-17)
- no changes
3.0.6 (2022-01-25)
- Create service context in main (#224)
- Add thread dependency to examples (Rolling) (#237)
3.0.5 (2021-11-23)
- no change
3.0.4 (2021-11-17)
- added pingpong example (#172)
- Provide lifecycle services in the rclc lifecycle nodes (#51)
- RCLC Actions Implementation (#170)
3.0.3 (2021-07-28)
- Version bump
3.0.2 (2021-07-26)
- Version bump
3.0.1 (2021-07-17)
- Added example for parameter server
- Added example for executor prepare API
- Added example for quality of service entity creation API
- Added example for subscription with context
2.0.0 (2021-04-23)
- added codecov support
- new API of rcl_lifecycle in Rolling required major version bump
1.0.1 (2021-03-29)
- Windows port
- Compatibility sleep function (Windows, POSIX-OS)
- Fixed RCL lifecycle API change for Rolling
1.0.0 (2021-03-04)
- Updated version
0.1.7 (2021-01-20)
- Updated version
0.1.6 (2021-01-20)
- Updated version
0.1.5 (2020-12-11)
- Added support for services,clients and guard_conditions to rclc executor
0.1.4 (2020-11-25)
- Fixed error in bloom release
0.1.3 (2020-11-23)
- Added rclc_lifecycle package
0.1.2 (2020-05-19)
- Fixed compiler errors for bloom release
0.1.1 (2020-05-14)
- Initial release
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | rcl | |
1 | rclc | |
1 | rclc_lifecycle | |
2 | std_msgs | |
1 | lifecycle_msgs | |
1 | example_interfaces | |
1 | ament_cmake_ros | |
1 | rclc_parameter |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rclc_examples at answers.ros.org
![]() |
rclc_examples package from rclc reporclc rclc_examples rclc_lifecycle rclc_parameter |
|
Package Summary
Tags | No category tags. |
Version | 3.0.8 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/rclc.git |
VCS Type | git |
VCS Version | master |
Last Updated | 2022-10-04 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jan Staschulat
Authors
- Jan Staschulat
- Arne Nordmann
General information about this repository, including legal information, build instructions and known issues/limitations, are given in README.md in the repository root.
The rclc_examples package
The rclc_examples package provides examples for using the RCLC-Exector and convenience functions. - example_executor.c provides the example for the RCLC-Executor. It creates one publisher and one subscriber and configures the RCLC-Executor accordingly. Then the spin_some() function is demonstrated. - example_executor_convenience.c provides the example for the RCLC-Executor with the convenience functions from rclc. It creates one publisher and one subscriber and configures the RCLC-Executor accordingly. Then the spin_some() function is demonstrated. - example_executor_trigger.c demonstrates the trigger condition of the RCLC-Executor. - example_service_node.c implements a service node with the RCLC-Executor. - example_client_node.c implements a client node with RCLC-Executor.
The reduction of code lines for configuring the necessary RCL objects for RCLC-Executor directly with RCL objects compared to using the convenience functions is about 24%: - example_executor.c: 92 LoC (lines 56-148) - example_executor_convenience.c: 70 LoC (line 17 + lines 57-126)
counting only the lines of code in which the RCL objects are defined).
Example RCLC-Executor using RCL objects directly
Step 1 Setup ROS 2 Workspace
Open a terminal with ROS 2 workspace. Assuming that the ROS 2 installation resides in /opt/ros/ROSDISTRO
, setup the ROS2 environment by:
~$ source /opt/ros/$ROSDISTRO/setup.bash
Step 2 Build the package
Download and build the the packages rclc
and rclc_examples
in a workspace (for example ros2_ws
). Then source the workspace:
~/ros2_ws/$ colcon build --packages-up-to rclc_examples
~/ros2_ws/$ source ./install/local_setup.bash
It should build these packages: - rcl_yaml_param_parser - rcl - rclc - rclc_examples
Step 3 Run the example executor.
The binary of the example is example_executor
.
~/ros2_ws/$ ros2 run rclc_examples example_executor
The publisher publishes the message Hello World!
in topic_0
at a rate of 1Hz and the subscriber prints out in the callback Callback: I heard: Hello World!
.
You should see the following output:
Created timer with timeout 1000 ms.
Created subscriber topic_0:
Debug: number of DDS handles: 2
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Example RCLC-Executor with convenience functions
Step 1 Setup ROS 2 Workspace
Open a terminal with ROS 2 workspace. Assuming that the ROS 2 installation resides in /opt/ros/eloquent
, setup
the ROS2 environment by:
~$ source /opt/ros/eloquent/setup.bash
Step 2 Build the package
Download and build the the packages rclc
and rclc_examples
in a workspace (for example ros2_ws
). Then source the workspace:
~/ros2_ws/$ colcon build --packages-up-to rclc_examples
~/ros2_ws/$ source ./install/local_setup.bash
It should build these packages: - rcl_yaml_param_parser - rcl - rclc - rclc_examples
Step 3 Run the example executor with the convenience functions from the package rclc.
The binary of the example is example_executor_convenience
.
~/ros2_ws/$ ros2 run rclc_examples example_executor_convenience
The same setup as in the example_executor, just using the RCLC convenience functions. You should see the exact same output:
Created timer with timeout 1000 ms.
Created subscriber topic_0:
Debug: number of DDS handles: 2
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Example RCLC-Executor with trigger function
Step 1, Step 2 To setup ROS2 workspace and build the package refer to Step 1 and Step 2 in the Example RCLC-Executor.
Step 3
This example implements two RCLC Executors, one for publishing executor_pub
and one for subscribing messages executor_sub
.
The Executor executor_pub
publishes string topic_0
every 100ms (using a timer with 100ms) and an integer topic_1
every 1000ms (using a timer with 1000ms).
With the trigger condition rclc_executor_trigger_any
this executor publishes whenenver any timer is ready.
Executor executor_sub
has two subscriptions, my_string_sub
and my_int_sub
subscribing to topic_0
and topic_1
, respectivly.
With the trigger condition rclc_executor_trigger_all
this executor starts evaluating the callbacks only when both messages have arrived. To make this clearly visible, we set the quality of service parameter of the length of the DDS-queue to 0 for subscription my_string_sub
, which subscribes to topic_0
with the higher rate.
my_subscription_options.qos.depth = 0
rc = rcl_subscription_init(
&my_string_sub,
&my_node,
my_type_support,
topic_name,
&my_subscription_options);
Consequently, the messages "in between" are lost.
The binary of the example is example_executor_trigger
. You run the example with:
~/ros2_ws/$ ros2 run rclc_examples example_executor_trigger
Then you should see the following output:
Created timer 'my_string_timer' with timeout 100 ms.
Created 'my_int_timer' with timeout 1000 ms.
Created subscriber topic_0:
Created subscriber topic_1:
Executor_pub: number of DDS handles: 2
Executor_sub: number of DDS handles: 2
Published: Hello World! 0
Published: Hello World! 1
Published: Hello World! 2
Published: Hello World! 3
Published: Hello World! 4
Published: Hello World! 5
Published: Hello World! 6
Published: Hello World! 7
Published: Hello World! 8
Published: Hello World! 9
Published: 0
Callback 1: Hello World! 9 <---
Callback 2: 0 <---
Published: Hello World! 10
Published: Hello World! 11
Published: Hello World! 12
Published: Hello World! 13
Published: Hello World! 14
Published: Hello World! 15
Published: Hello World! 16
Published: Hello World! 17
Published: Hello World! 18
Published: Hello World! 19
Published: 1
Callback 1: Hello World! 19 <---
Callback 2: 1 <---
The results show, that the callbacks are triggered together, only when the integer message topic_1
was published and received. At that moment the current string message of the topic_0
is processed as well.
Example Service/client with RCLC-Executor
Step 1, Step 2 To setup ROS2 workspace and build the package refer to Step 1 and Step 2 in the Example RCLC-Executor.
Step 3 Open two Terminal windows and source the ROS 2 distribution/install/setup.bash and rclc repository/install/local_setup.bash.
window 1: start service node
$ ros2 run rclc_examples example_service_node
INFO: rcl_wait timeout 10 ms
Service request value: 24 + 42. Seq 1
Received service response 24 + 42 = 66. Seq 1
```C
window 2: start client node
```C
~$ ros2 run rclc_examples example_client_node
Send service request 24 + 42. Seq 1
INFO: rcl_wait timeout 10 ms
```C
A request message is sent from the client node to the service node and answered.
Changelog for package rclc_examples
3.0.8 (2022-04-14)
- Fix RCLC int parameter get (cherry-pick) (#272)
- Upgrade parameters (#274)
3.0.7 (2022-02-17)
- no changes
3.0.6 (2022-01-25)
- Create service context in main (#224)
- Add thread dependency to examples (Rolling) (#237)
3.0.5 (2021-11-23)
- no change
3.0.4 (2021-11-17)
- added pingpong example (#172)
- Provide lifecycle services in the rclc lifecycle nodes (#51)
- RCLC Actions Implementation (#170)
3.0.3 (2021-07-28)
- Version bump
3.0.2 (2021-07-26)
- Version bump
3.0.1 (2021-07-17)
- Added example for parameter server
- Added example for executor prepare API
- Added example for quality of service entity creation API
- Added example for subscription with context
2.0.0 (2021-04-23)
- added codecov support
- new API of rcl_lifecycle in Rolling required major version bump
1.0.1 (2021-03-29)
- Windows port
- Compatibility sleep function (Windows, POSIX-OS)
- Fixed RCL lifecycle API change for Rolling
1.0.0 (2021-03-04)
- Updated version
0.1.7 (2021-01-20)
- Updated version
0.1.6 (2021-01-20)
- Updated version
0.1.5 (2020-12-11)
- Added support for services,clients and guard_conditions to rclc executor
0.1.4 (2020-11-25)
- Fixed error in bloom release
0.1.3 (2020-11-23)
- Added rclc_lifecycle package
0.1.2 (2020-05-19)
- Fixed compiler errors for bloom release
0.1.1 (2020-05-14)
- Initial release
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | rcl | |
1 | rclc | |
1 | rclc_lifecycle | |
2 | std_msgs | |
1 | lifecycle_msgs | |
1 | example_interfaces | |
1 | ament_cmake_ros | |
1 | rclc_parameter |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rclc_examples at answers.ros.org
![]() |
rclc_examples package from rclc reporclc rclc_examples rclc_lifecycle |
|
Package Summary
Tags | No category tags. |
Version | 1.0.1 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/rclc.git |
VCS Type | git |
VCS Version | dashing |
Last Updated | 2021-07-20 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jan Staschulat
Authors
- Jan Staschulat
- Arne Nordmann
General information about this repository, including legal information, build instructions and known issues/limitations, are given in README.md in the repository root.
The rclc_examples package
The rclc_examples package provides examples for using the RCLC-Exector and convenience functions. - example_executor.c provides the example for the RCLC-Executor. It creates one publisher and one subscriber and configures the RCLC-Executor accordingly. Then the spin_some() function is demonstrated. - example_executor_convenience.c provides the example for the RCLC-Executor with the convenience functions from rclc. It creates one publisher and one subscriber and configures the RCLC-Executor accordingly. Then the spin_some() function is demonstrated. - example_executor_trigger.c demonstrates the trigger condition of the RCLC-Executor. - example_service_node.c implements a service node with the RCLC-Executor. - example_client_node.c implements a client node with RCLC-Executor.
The reduction of code lines for configuring the necessary RCL objects for RCLC-Executor directly with RCL objects compared to using the convenience functions is about 24%: - example_executor.c: 92 LoC (lines 56-148) - example_executor_convenience.c: 70 LoC (line 17 + lines 57-126)
counting only the lines of code in which the RCL objects are defined).
Example RCLC-Executor using RCL objects directly
Step 1 Setup ROS 2 Workspace
Open a terminal with ROS 2 workspace. Assuming that the ROS 2 installation resides in /opt/ros/ROSDISTRO
, setup the ROS2 environment by:
~$ source /opt/ros/$ROSDISTRO/setup.bash
Step 2 Build the package
Download and build the the packages rclc
and rclc_examples
in a workspace (for example ros2_ws
). Then source the workspace:
~/ros2_ws/$ colcon build --packages-up-to rclc_examples
~/ros2_ws/$ source ./install/local_setup.bash
It should build these packages: - rcl_yaml_param_parser - rcl - rclc - rclc_examples
Step 3 Run the example executor.
The binary of the example is example_executor
.
~/ros2_ws/$ ros2 run rclc_examples example_executor
The publisher publishes the message Hello World!
in topic_0
at a rate of 1Hz and the subscriber prints out in the callback Callback: I heard: Hello World!
.
You should see the following output:
Created timer with timeout 1000 ms.
Created subscriber topic_0:
Debug: number of DDS handles: 2
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Example RCLC-Executor with convenience functions
Step 1 Setup ROS 2 Workspace
Open a terminal with ROS 2 workspace. Assuming that the ROS 2 installation resides in /opt/ros/eloquent
, setup
the ROS2 environment by:
~$ source /opt/ros/eloquent/setup.bash
Step 2 Build the package
Download and build the the packages rclc
and rclc_examples
in a workspace (for example ros2_ws
). Then source the workspace:
~/ros2_ws/$ colcon build --packages-up-to rclc_examples
~/ros2_ws/$ source ./install/local_setup.bash
It should build these packages: - rcl_yaml_param_parser - rcl - rclc - rclc_examples
Step 3 Run the example executor with the convenience functions from the package rclc.
The binary of the example is example_executor_convenience
.
~/ros2_ws/$ ros2 run rclc_examples example_executor_convenience
The same setup as in the example_executor, just using the RCLC convenience functions. You should see the exact same output:
Created timer with timeout 1000 ms.
Created subscriber topic_0:
Debug: number of DDS handles: 2
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Example RCLC-Executor with trigger function
Step 1, Step 2 To setup ROS2 workspace and build the package refer to Step 1 and Step 2 in the Example RCLC-Executor.
Step 3
This example implements two RCLC Executors, one for publishing executor_pub
and one for subscribing messages executor_sub
.
The Executor executor_pub
publishes string topic_0
every 100ms (using a timer with 100ms) and an integer topic_1
every 1000ms (using a timer with 1000ms).
With the trigger condition rclc_executor_trigger_any
this executor publishes whenenver any timer is ready.
Executor executor_sub
has two subscriptions, my_string_sub
and my_int_sub
subscribing to topic_0
and topic_1
, respectivly.
With the trigger condition rclc_executor_trigger_all
this executor starts evaluating the callbacks only when both messages have arrived. To make this clearly visible, we set the quality of service parameter of the length of the DDS-queue to 0 for subscription my_string_sub
, which subscribes to topic_0
with the higher rate.
my_subscription_options.qos.depth = 0
rc = rcl_subscription_init(
&my_string_sub,
&my_node,
my_type_support,
topic_name,
&my_subscription_options);
Consequently, the messages "in between" are lost.
The binary of the example is example_executor_trigger
. You run the example with:
~/ros2_ws/$ ros2 run rclc_examples example_executor_trigger
Then you should see the following output:
Created timer 'my_string_timer' with timeout 100 ms.
Created 'my_int_timer' with timeout 1000 ms.
Created subscriber topic_0:
Created subscriber topic_1:
Executor_pub: number of DDS handles: 2
Executor_sub: number of DDS handles: 2
Published: Hello World! 0
Published: Hello World! 1
Published: Hello World! 2
Published: Hello World! 3
Published: Hello World! 4
Published: Hello World! 5
Published: Hello World! 6
Published: Hello World! 7
Published: Hello World! 8
Published: Hello World! 9
Published: 0
Callback 1: Hello World! 9 <---
Callback 2: 0 <---
Published: Hello World! 10
Published: Hello World! 11
Published: Hello World! 12
Published: Hello World! 13
Published: Hello World! 14
Published: Hello World! 15
Published: Hello World! 16
Published: Hello World! 17
Published: Hello World! 18
Published: Hello World! 19
Published: 1
Callback 1: Hello World! 19 <---
Callback 2: 1 <---
The results show, that the callbacks are triggered together, only when the integer message topic_1
was published and received. At that moment the current string message of the topic_0
is processed as well.
Example Service/client with RCLC-Executor
Step 1, Step 2 To setup ROS2 workspace and build the package refer to Step 1 and Step 2 in the Example RCLC-Executor.
Step 3 Open two Terminal windows and source the ROS 2 distribution/install/setup.bash and rclc repository/install/local_setup.bash.
window 1: start service node
$ ros2 run rclc_examples example_service_node
INFO: rcl_wait timeout 10 ms
Service request value: 24 + 42. Seq 1
Received service response 24 + 42 = 66. Seq 1
```C
window 2: start client node
```C
~$ ros2 run rclc_examples example_client_node
Send service request 24 + 42. Seq 1
INFO: rcl_wait timeout 10 ms
```C
A request message is sent from the client node to the service node and answered.
Changelog for package rclc_examples
1.0.1 (2021-07-17)
- Updated version
1.0.0 (2021-03-04)
- Updated version
0.1.7 (2021-01-20)
- Updated version
0.1.6 (2021-01-20)
- Updated version
0.1.5 (2020-12-11)
- Added support for services,clients and guard_conditions to rclc executor
0.1.4 (2020-11-25)
- Fixed error in bloom release
0.1.3 (2020-11-23)
- Added rclc_lifecycle package
0.1.2 (2020-05-19)
- Fixed compiler errors for bloom release
0.1.1 (2020-05-14)
- Initial release
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | rcl | |
1 | rclc | |
1 | rclc_lifecycle | |
2 | std_msgs | |
1 | lifecycle_msgs | |
1 | example_interfaces | |
1 | ament_cmake_ros |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged rclc_examples at answers.ros.org
![]() |
rclc_examples package from rclc reporclc rclc_examples rclc_lifecycle rclc_parameter |
|
Package Summary
Tags | No category tags. |
Version | 2.0.6 |
License | Apache License 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/ros2/rclc.git |
VCS Type | git |
VCS Version | galactic |
Last Updated | 2022-07-20 |
Dev Status | DEVELOPED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Jan Staschulat
Authors
- Jan Staschulat
- Arne Nordmann
General information about this repository, including legal information, build instructions and known issues/limitations, are given in README.md in the repository root.
The rclc_examples package
The rclc_examples package provides examples for using the RCLC-Exector and convenience functions. - example_executor.c provides the example for the RCLC-Executor. It creates one publisher and one subscriber and configures the RCLC-Executor accordingly. Then the spin_some() function is demonstrated. - example_executor_convenience.c provides the example for the RCLC-Executor with the convenience functions from rclc. It creates one publisher and one subscriber and configures the RCLC-Executor accordingly. Then the spin_some() function is demonstrated. - example_executor_trigger.c demonstrates the trigger condition of the RCLC-Executor. - example_service_node.c implements a service node with the RCLC-Executor. - example_client_node.c implements a client node with RCLC-Executor.
The reduction of code lines for configuring the necessary RCL objects for RCLC-Executor directly with RCL objects compared to using the convenience functions is about 24%: - example_executor.c: 92 LoC (lines 56-148) - example_executor_convenience.c: 70 LoC (line 17 + lines 57-126)
counting only the lines of code in which the RCL objects are defined).
Example RCLC-Executor using RCL objects directly
Step 1 Setup ROS 2 Workspace
Open a terminal with ROS 2 workspace. Assuming that the ROS 2 installation resides in /opt/ros/ROSDISTRO
, setup the ROS2 environment by:
~$ source /opt/ros/$ROSDISTRO/setup.bash
Step 2 Build the package
Download and build the the packages rclc
and rclc_examples
in a workspace (for example ros2_ws
). Then source the workspace:
~/ros2_ws/$ colcon build --packages-up-to rclc_examples
~/ros2_ws/$ source ./install/local_setup.bash
It should build these packages: - rcl_yaml_param_parser - rcl - rclc - rclc_examples
Step 3 Run the example executor.
The binary of the example is example_executor
.
~/ros2_ws/$ ros2 run rclc_examples example_executor
The publisher publishes the message Hello World!
in topic_0
at a rate of 1Hz and the subscriber prints out in the callback Callback: I heard: Hello World!
.
You should see the following output:
Created timer with timeout 1000 ms.
Created subscriber topic_0:
Debug: number of DDS handles: 2
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Example RCLC-Executor with convenience functions
Step 1 Setup ROS 2 Workspace
Open a terminal with ROS 2 workspace. Assuming that the ROS 2 installation resides in /opt/ros/eloquent
, setup
the ROS2 environment by:
~$ source /opt/ros/eloquent/setup.bash
Step 2 Build the package
Download and build the the packages rclc
and rclc_examples
in a workspace (for example ros2_ws
). Then source the workspace:
~/ros2_ws/$ colcon build --packages-up-to rclc_examples
~/ros2_ws/$ source ./install/local_setup.bash
It should build these packages: - rcl_yaml_param_parser - rcl - rclc - rclc_examples
Step 3 Run the example executor with the convenience functions from the package rclc.
The binary of the example is example_executor_convenience
.
~/ros2_ws/$ ros2 run rclc_examples example_executor_convenience
The same setup as in the example_executor, just using the RCLC convenience functions. You should see the exact same output:
Created timer with timeout 1000 ms.
Created subscriber topic_0:
Debug: number of DDS handles: 2
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Published message Hello World!
Callback: I heard: Hello World!
Example RCLC-Executor with trigger function
Step 1, Step 2 To setup ROS2 workspace and build the package refer to Step 1 and Step 2 in the Example RCLC-Executor.
Step 3
This example implements two RCLC Executors, one for publishing executor_pub
and one for subscribing messages executor_sub
.
The Executor executor_pub
publishes string topic_0
every 100ms (using a timer with 100ms) and an integer topic_1
every 1000ms (using a timer with 1000ms).
With the trigger condition rclc_executor_trigger_any
this executor publishes whenenver any timer is ready.
Executor executor_sub
has two subscriptions, my_string_sub
and my_int_sub
subscribing to topic_0
and topic_1
, respectivly.
With the trigger condition rclc_executor_trigger_all
this executor starts evaluating the callbacks only when both messages have arrived. To make this clearly visible, we set the quality of service parameter of the length of the DDS-queue to 0 for subscription my_string_sub
, which subscribes to topic_0
with the higher rate.
my_subscription_options.qos.depth = 0
rc = rcl_subscription_init(
&my_string_sub,
&my_node,
my_type_support,
topic_name,
&my_subscription_options);
Consequently, the messages "in between" are lost.
The binary of the example is example_executor_trigger
. You run the example with:
~/ros2_ws/$ ros2 run rclc_examples example_executor_trigger
Then you should see the following output:
Created timer 'my_string_timer' with timeout 100 ms.
Created 'my_int_timer' with timeout 1000 ms.
Created subscriber topic_0:
Created subscriber topic_1:
Executor_pub: number of DDS handles: 2
Executor_sub: number of DDS handles: 2
Published: Hello World! 0
Published: Hello World! 1
Published: Hello World! 2
Published: Hello World! 3
Published: Hello World! 4
Published: Hello World! 5
Published: Hello World! 6
Published: Hello World! 7
Published: Hello World! 8
Published: Hello World! 9
Published: 0
Callback 1: Hello World! 9 <---
Callback 2: 0 <---
Published: Hello World! 10
Published: Hello World! 11
Published: Hello World! 12
Published: Hello World! 13
Published: Hello World! 14
Published: Hello World! 15
Published: Hello World! 16
Published: Hello World! 17
Published: Hello World! 18
Published: Hello World! 19
Published: 1
Callback 1: Hello World! 19 <---
Callback 2: 1 <---
The results show, that the callbacks are triggered together, only when the integer message topic_1
was published and received. At that moment the current string message of the topic_0
is processed as well.
Example Service/client with RCLC-Executor
Step 1, Step 2 To setup ROS2 workspace and build the package refer to Step 1 and Step 2 in the Example RCLC-Executor.
Step 3 Open two Terminal windows and source the ROS 2 distribution/install/setup.bash and rclc repository/install/local_setup.bash.
window 1: start service node
$ ros2 run rclc_examples example_service_node
INFO: rcl_wait timeout 10 ms
Service request value: 24 + 42. Seq 1
Received service response 24 + 42 = 66. Seq 1
```C
window 2: start client node
```C
~$ ros2 run rclc_examples example_client_node
Send service request 24 + 42. Seq 1
INFO: rcl_wait timeout 10 ms
```C
A request message is sent from the client node to the service node and answered.
Changelog for package rclc_examples
2.0.6 (2022-01-25)
- [backport galactic, foxy] data_available optimization (#212)
2.0.5 (2021-11-08)
- Bumped version
2.0.4 (2021-08-19)
- Added pingpong example (example for C++ support)
2.0.3 (2021-07-26)
- Bumped version
2.0.2 (2021-07-17)
- Added example for parameter server
- Added example for quality of service entity creation API
- Added example for subscription with context
- Added example for executor_prepare API
2.0.1 (2021-05-28)
- added quality declaration
2.0.0 (2021-04-23)
- added codecov support
- new API of rcl_lifecycle in Rolling required major version bump
1.0.1 (2021-03-29)
- Windows port
- Compatibility sleep function (Windows, POSIX-OS)
- Fixed RCL lifecycle API change for Rolling
1.0.0 (2021-03-04)
- Updated version
0.1.7 (2021-01-20)
- Updated version
0.1.6 (2021-01-20)
- Updated version
0.1.5 (2020-12-11)
- Added support for services,clients and guard_conditions to rclc executor
0.1.4 (2020-11-25)
- Fixed error in bloom release
0.1.3 (2020-11-23)
- Added rclc_lifecycle package
0.1.2 (2020-05-19)
- Fixed compiler errors for bloom release
0.1.1 (2020-05-14)
- Initial release
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | rcl | |
1 | rclc | |
1 | rclc_lifecycle | |
2 | std_msgs | |
1 | lifecycle_msgs | |
1 | example_interfaces | |
1 | ament_cmake_ros | |
1 | rclc_parameter |