forked from ros2/rclcpp
-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathtest_component.cpp
More file actions
67 lines (58 loc) · 1.92 KB
/
test_component.cpp
File metadata and controls
67 lines (58 loc) · 1.92 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
// Copyright 2019 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 "rclcpp/rclcpp.hpp"
namespace test_rclcpp_components
{
/// Simple test component
class TestComponentFoo : public rclcpp::Node
{
public:
explicit TestComponentFoo(rclcpp::NodeOptions options)
: rclcpp::Node("test_component_foo", options)
{
}
};
/// Simple test component
class TestComponentBar : public rclcpp::Node
{
public:
explicit TestComponentBar(rclcpp::NodeOptions options)
: rclcpp::Node("test_component_bar", options)
{
}
};
/// Simple test component that doesn't inherit from rclcpp::Node
class TestComponentNoNode
{
public:
explicit TestComponentNoNode(rclcpp::NodeOptions options)
: node_("test_component_no_node", options)
{
}
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
get_node_base_interface()
{
return node_.get_node_base_interface();
}
private:
rclcpp::Node node_;
};
} // namespace test_rclcpp_components
#include "rclcpp_components/register_node_macro.hpp"
// Register the component with class_loader.
// This acts as a sort of entry point, allowing the component to be discoverable when its library
// is being loaded into a running process.
RCLCPP_COMPONENTS_REGISTER_NODE(test_rclcpp_components::TestComponentFoo)
RCLCPP_COMPONENTS_REGISTER_NODE(test_rclcpp_components::TestComponentBar)
RCLCPP_COMPONENTS_REGISTER_NODE(test_rclcpp_components::TestComponentNoNode)