Initial commit

build/custom_action_cpp/rclcpp_components/node_main_configured_fibonacci_action_client.cpp.in

@@ -0,0 +1,81 @@
+// 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 <algorithm>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "class_loader/class_loader.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/node_factory.hpp"
+#include "rclcpp_components/node_factory_template.hpp"
+
+#define NODE_MAIN_LOGGER_NAME "fibonacci_action_client"
+
+using namespace rclcpp::executors;
+using namespace rclcpp::experimental::executors;
+
+int main(int argc, char * argv[])
+{
+  auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);
+  rclcpp::Logger logger = rclcpp::get_logger(NODE_MAIN_LOGGER_NAME);
+  SingleThreadedExecutor exec;
+  rclcpp::NodeOptions options;
+  options.arguments(args);
+
+  std::string library_name = "$<TARGET_FILE_NAME:action_client>";
+  std::string class_name = "rclcpp_components::NodeFactoryTemplate<custom_action_cpp::FibonacciActionClient>";
+
+  RCLCPP_DEBUG(logger, "Load library %s", library_name.c_str());
+  auto loader = std::make_unique<class_loader::ClassLoader>(library_name);
+  std::vector<std::string> classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
+
+  if (std::find(
+    classes.begin(),
+    classes.end(),
+    class_name) == classes.end()) {
+    RCLCPP_ERROR(
+      logger,
+      "Class %s not found in library %s",
+      class_name.c_str(),
+      library_name.c_str());
+    return 1;
+  }
+  RCLCPP_DEBUG(logger, "Instantiate class %s", class_name.c_str());
+  std::shared_ptr<rclcpp_components::NodeFactory> node_factory = nullptr;
+  try {
+    node_factory = loader->createInstance<rclcpp_components::NodeFactory>(class_name);
+  } catch (const std::exception & ex) {
+    RCLCPP_ERROR(logger, "Failed to load library %s", ex.what());
+    return 1;
+  } catch (...) {
+    RCLCPP_ERROR(logger, "Failed to load library");
+    return 1;
+  }
+  // Scope to destruct node_wrapper before shutdown
+  {
+    rclcpp_components::NodeInstanceWrapper node_wrapper = node_factory->create_node_instance(options);
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node = node_wrapper.get_node_base_interface();
+    exec.add_node(node);
+
+    exec.spin();
+
+    exec.remove_node(node_wrapper.get_node_base_interface());
+  }
+
+  rclcpp::shutdown();
+
+  return 0;
+}

build/custom_action_cpp/rclcpp_components/node_main_configured_fibonacci_action_server.cpp.in

@@ -0,0 +1,81 @@
+// 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 <algorithm>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "class_loader/class_loader.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/node_factory.hpp"
+#include "rclcpp_components/node_factory_template.hpp"
+
+#define NODE_MAIN_LOGGER_NAME "fibonacci_action_server"
+
+using namespace rclcpp::executors;
+using namespace rclcpp::experimental::executors;
+
+int main(int argc, char * argv[])
+{
+  auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);
+  rclcpp::Logger logger = rclcpp::get_logger(NODE_MAIN_LOGGER_NAME);
+  SingleThreadedExecutor exec;
+  rclcpp::NodeOptions options;
+  options.arguments(args);
+
+  std::string library_name = "$<TARGET_FILE_NAME:action_server>";
+  std::string class_name = "rclcpp_components::NodeFactoryTemplate<custom_action_cpp::FibonacciActionServer>";
+
+  RCLCPP_DEBUG(logger, "Load library %s", library_name.c_str());
+  auto loader = std::make_unique<class_loader::ClassLoader>(library_name);
+  std::vector<std::string> classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
+
+  if (std::find(
+    classes.begin(),
+    classes.end(),
+    class_name) == classes.end()) {
+    RCLCPP_ERROR(
+      logger,
+      "Class %s not found in library %s",
+      class_name.c_str(),
+      library_name.c_str());
+    return 1;
+  }
+  RCLCPP_DEBUG(logger, "Instantiate class %s", class_name.c_str());
+  std::shared_ptr<rclcpp_components::NodeFactory> node_factory = nullptr;
+  try {
+    node_factory = loader->createInstance<rclcpp_components::NodeFactory>(class_name);
+  } catch (const std::exception & ex) {
+    RCLCPP_ERROR(logger, "Failed to load library %s", ex.what());
+    return 1;
+  } catch (...) {
+    RCLCPP_ERROR(logger, "Failed to load library");
+    return 1;
+  }
+  // Scope to destruct node_wrapper before shutdown
+  {
+    rclcpp_components::NodeInstanceWrapper node_wrapper = node_factory->create_node_instance(options);
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node = node_wrapper.get_node_base_interface();
+    exec.add_node(node);
+
+    exec.spin();
+
+    exec.remove_node(node_wrapper.get_node_base_interface());
+  }
+
+  rclcpp::shutdown();
+
+  return 0;
+}

build/custom_action_cpp/rclcpp_components/node_main_fibonacci_action_client.cpp

@@ -0,0 +1,81 @@
+// 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 <algorithm>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "class_loader/class_loader.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/node_factory.hpp"
+#include "rclcpp_components/node_factory_template.hpp"
+
+#define NODE_MAIN_LOGGER_NAME "fibonacci_action_client"
+
+using namespace rclcpp::executors;
+using namespace rclcpp::experimental::executors;
+
+int main(int argc, char * argv[])
+{
+  auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);
+  rclcpp::Logger logger = rclcpp::get_logger(NODE_MAIN_LOGGER_NAME);
+  SingleThreadedExecutor exec;
+  rclcpp::NodeOptions options;
+  options.arguments(args);
+
+  std::string library_name = "libaction_client.so";
+  std::string class_name = "rclcpp_components::NodeFactoryTemplate<custom_action_cpp::FibonacciActionClient>";
+
+  RCLCPP_DEBUG(logger, "Load library %s", library_name.c_str());
+  auto loader = std::make_unique<class_loader::ClassLoader>(library_name);
+  std::vector<std::string> classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
+
+  if (std::find(
+    classes.begin(),
+    classes.end(),
+    class_name) == classes.end()) {
+    RCLCPP_ERROR(
+      logger,
+      "Class %s not found in library %s",
+      class_name.c_str(),
+      library_name.c_str());
+    return 1;
+  }
+  RCLCPP_DEBUG(logger, "Instantiate class %s", class_name.c_str());
+  std::shared_ptr<rclcpp_components::NodeFactory> node_factory = nullptr;
+  try {
+    node_factory = loader->createInstance<rclcpp_components::NodeFactory>(class_name);
+  } catch (const std::exception & ex) {
+    RCLCPP_ERROR(logger, "Failed to load library %s", ex.what());
+    return 1;
+  } catch (...) {
+    RCLCPP_ERROR(logger, "Failed to load library");
+    return 1;
+  }
+  // Scope to destruct node_wrapper before shutdown
+  {
+    rclcpp_components::NodeInstanceWrapper node_wrapper = node_factory->create_node_instance(options);
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node = node_wrapper.get_node_base_interface();
+    exec.add_node(node);
+
+    exec.spin();
+
+    exec.remove_node(node_wrapper.get_node_base_interface());
+  }
+
+  rclcpp::shutdown();
+
+  return 0;
+}

build/custom_action_cpp/rclcpp_components/node_main_fibonacci_action_server.cpp

@@ -0,0 +1,81 @@
+// 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 <algorithm>
+#include <memory>
+#include <string>
+#include <vector>
+
+#include "class_loader/class_loader.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/node_factory.hpp"
+#include "rclcpp_components/node_factory_template.hpp"
+
+#define NODE_MAIN_LOGGER_NAME "fibonacci_action_server"
+
+using namespace rclcpp::executors;
+using namespace rclcpp::experimental::executors;
+
+int main(int argc, char * argv[])
+{
+  auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);
+  rclcpp::Logger logger = rclcpp::get_logger(NODE_MAIN_LOGGER_NAME);
+  SingleThreadedExecutor exec;
+  rclcpp::NodeOptions options;
+  options.arguments(args);
+
+  std::string library_name = "libaction_server.so";
+  std::string class_name = "rclcpp_components::NodeFactoryTemplate<custom_action_cpp::FibonacciActionServer>";
+
+  RCLCPP_DEBUG(logger, "Load library %s", library_name.c_str());
+  auto loader = std::make_unique<class_loader::ClassLoader>(library_name);
+  std::vector<std::string> classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
+
+  if (std::find(
+    classes.begin(),
+    classes.end(),
+    class_name) == classes.end()) {
+    RCLCPP_ERROR(
+      logger,
+      "Class %s not found in library %s",
+      class_name.c_str(),
+      library_name.c_str());
+    return 1;
+  }
+  RCLCPP_DEBUG(logger, "Instantiate class %s", class_name.c_str());
+  std::shared_ptr<rclcpp_components::NodeFactory> node_factory = nullptr;
+  try {
+    node_factory = loader->createInstance<rclcpp_components::NodeFactory>(class_name);
+  } catch (const std::exception & ex) {
+    RCLCPP_ERROR(logger, "Failed to load library %s", ex.what());
+    return 1;
+  } catch (...) {
+    RCLCPP_ERROR(logger, "Failed to load library");
+    return 1;
+  }
+  // Scope to destruct node_wrapper before shutdown
+  {
+    rclcpp_components::NodeInstanceWrapper node_wrapper = node_factory->create_node_instance(options);
+    rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node = node_wrapper.get_node_base_interface();
+    exec.add_node(node);
+
+    exec.spin();
+
+    exec.remove_node(node_wrapper.get_node_base_interface());
+  }
+
+  rclcpp::shutdown();
+
+  return 0;
+}