Examples#

Publish-Subscrib :#

This example show the implementation of the publish subscribe exmample (https://docs.ros.org/en/foxy/Tutorials/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html) using corail API. As you can see on the highlighted lines only some little class names and params changes are needed to switch from rclcpp to corail.

 1/* 
 2 *  Corail version 1.0, by Benoit Varillon and David Doose and Jean-Baptiste Chaudron and Charles Lesir-Cabaniols
 3 *  Copyright 2021 ISAE-Supaero, Université de Toulouse, France
 4 *  
 5 *  This file is part of the Corail project.
 6 *  
 7 *  Corail is free software: you can redistribute it and/or modify
 8 *  it under the terms of the GNU Lesser General Public License as published by
 9 *  the Free Software Foundation, either version 3 of the License, or
10 *  (at your option) any later version.
11 *  
12 *  Corail is distributed in the hope that it will be useful,
13 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
14 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
15 *  GNU Lesser General Public License for more details.
16 *  
17 *  You should have received a copy of the GNU Lesser General Public License
18 *  along with Corail.  If not, see <https://www.gnu.org/licenses/>.
19 */
20
21
22#include <iostream>
23
24#include "rclcpp/rclcpp.hpp"
25#include "std_msgs/msg/string.hpp"
26
27#include "corail_core/corail_core.hpp"
28
29using namespace std::chrono_literals;
30using namespace std::placeholders;
31
32
33class MinimalPublisher : public corail_core::RealTimeNode
34{
35    public:
36    MinimalPublisher() : RealTimeNode("minimal_publisher"), count_(0)
37    {
38        publisher_ = create_publisher<std_msgs::msg::String>("corail_example/topic",1);
39        timer_ = create_rt_timer("publisher",0,10,500ms,std::bind(&MinimalPublisher::timer_callback,this));
40    }
41    private:
42        void timer_callback()
43        {
44            auto msg = std_msgs::msg::String();
45            msg.data = "Hello, world! " + std::to_string(count_++);
46            RCLCPP_INFO(get_logger(),"Publishing: %s", msg.data.c_str());
47            publisher_->publish(msg);
48        }
49        corail_core::PeriodicTask::SharedPtr timer_;
50        rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
51        size_t count_;
52
53};
54
55class MinimalSubscriber : public corail_core::RealTimeNode
56{
57    public:
58        MinimalSubscriber() : RealTimeNode("minimal_subscriber")
59        {
60            sub = create_rt_subscription<std_msgs::msg::String>("subscription", 0, 20, 100ms, 500ms, "corail_example/topic", 1, std::bind(&MinimalSubscriber::topic_callback,this,_1));
61        }
62    private:
63        void topic_callback(std_msgs::msg::String::SharedPtr msg)
64        {
65            RCLCPP_INFO(get_logger(), "I heard: %s", msg->data.c_str());
66        }
67        corail_core::SubscriptionTask<std_msgs::msg::String>::SharedPtr sub;
68
69    
70};
71
72int main(int argc, char * argv[])
73{
74    rclcpp::init(argc, argv);
75    corail_core::RealTimeExecutor exec("executor");
76    exec.add_rt_node(std::make_shared<MinimalPublisher>());
77    exec.add_rt_node(std::make_shared<MinimalSubscriber>());
78    exec.spin();
79    rclcpp::shutdown();
80}

Rclcpp and Corail :#

This example show that corail realtime nodes and classic rclcpp nodes can co-exist in the same corail RealTimeExecutor.

 1/* 
 2 *  Corail version 1.0, by Benoit Varillon and David Doose and Jean-Baptiste Chaudron and Charles Lesir-Cabaniols
 3 *  Copyright 2021 ISAE-Supaero, Université de Toulouse, France
 4 *  
 5 *  This file is part of the Corail project.
 6 *  
 7 *  Corail is free software: you can redistribute it and/or modify
 8 *  it under the terms of the GNU Lesser General Public License as published by
 9 *  the Free Software Foundation, either version 3 of the License, or
10 *  (at your option) any later version.
11 *  
12 *  Corail is distributed in the hope that it will be useful,
13 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
14 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
15 *  GNU Lesser General Public License for more details.
16 *  
17 *  You should have received a copy of the GNU Lesser General Public License
18 *  along with Corail.  If not, see <https://www.gnu.org/licenses/>.
19 */
20
21
22#include <iostream>
23
24#include "rclcpp/rclcpp.hpp"
25#include "std_msgs/msg/string.hpp"
26
27#include "corail_core/corail_core.hpp"
28
29using namespace std::chrono_literals;
30using namespace std::placeholders;
31
32
33class MinimalPublisher : public corail_core::RealTimeNode
34{
35    public:
36    MinimalPublisher() : RealTimeNode("minimal_publisher"), count_(0)
37    {
38        publisher_ = create_publisher<std_msgs::msg::String>("corail_example/topic",1);
39        timer_ = create_rt_timer("publisher",0,10,500ms,std::bind(&MinimalPublisher::timer_callback,this));
40    }
41    private:
42        void timer_callback()
43        {
44            auto msg = std_msgs::msg::String();
45            msg.data = "Hello, world! " + std::to_string(count_++);
46            RCLCPP_INFO(get_logger(),"Publishing: %s", msg.data.c_str());
47            publisher_->publish(msg);
48        }
49        corail_core::PeriodicTask::SharedPtr timer_;
50        rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
51        size_t count_;
52
53};
54
55class MinimalSubscriber : public rclcpp::Node
56{
57    public:
58        MinimalSubscriber() : Node("minimal_subscriber")
59        {
60            sub = create_subscription<std_msgs::msg::String>("corail_example/topic", 1, std::bind(&MinimalSubscriber::topic_callback,this,_1));
61        }
62    private:
63        void topic_callback(std_msgs::msg::String::SharedPtr msg)
64        {
65            RCLCPP_INFO(get_logger(), "I heard: %s", msg->data.c_str());
66        }
67        rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub;
68
69    
70};
71
72int main(int argc, char * argv[])
73{
74    rclcpp::init(argc, argv);
75    corail_core::RealTimeExecutor exec("executor");
76    auto pub = std::make_shared<MinimalPublisher>();
77    auto sub = std::make_shared<MinimalSubscriber>();
78    exec.add_rt_node(pub);
79    exec.add_node(sub);
80    exec.spin();
81    rclcpp::shutdown();
82}

For more examples see the corail_examples package.

Corail is free software: you can redistribute it and/or modify it under the terms of the GNU LESSER GENERAL PUBLIC LICENSE as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.