ros2 demo

ros2使用自建类型编译,订阅以及发布的demo

sub和pub对象:

chasis_Subscription_ = 
        rclcpp::create_subscription<calmcar::msg::BinraryData>(
          *ROS2DOME::instance(),"/demo_sub_10ms", 5,
          std::bind(&PubSubDemo::GetChasis, this, placeholders::_1));



auto puber = rclcpp::create_publisher<calmcar::msg::BinraryData>(
                  *ROS2DOME::instance(),"/demo_pub_10ms_binrarydata_topi", 20);
    puber->publish(*msg);

 CMakeLists.txt 添加自检类型:

# demo_data - demo_data
set(CMAKE_PREFIX_PATH
  ${CMAKE_PREFIX_PATH}
  ${CMAKE_CURRENT_LIST_DIR}/install/demo_data
)
set(CMAKE_MODULE_PATH
  ${CMAKE_MODULE_PATH}
  ${CMAKE_CURRENT_LIST_DIR}/install/demo_data
)
find_package(demo_data REQUIRED)
ament_export_dependencies(demo_data)
target_include_directories(${PROJECT_NAME} SYSTEM
  PRIVATE
    ${rclcpp_INCLUDE_DIRS}
    ${demo_data_INCLUDE_DIRS}
)
target_link_libraries(${PROJECT_NAME}
  PRIVATE
    ${rclcpp_LIBRARIES}
    ${demo_data_LIBRARIES}
)
target_link_options(${PROJECT_NAME}
  PRIVATE ${demo_data_LINK_FLAGS}
)

target_link_libraries(${PROJECT_NAME}
  PRIVATE
    ${rclcpp_LIBRARIES}
    demo_data_rclcpp
    demo_data-dds
    proto_interface_s
    protobuf 
    protobuf-lite
)

最后

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