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Merge pull request #185 from Carter12s/fixes-from-plane
Initial Work on Generic ROS Client
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,82 @@ | ||
| //! Purpose of this example is to show how the TopicProvider trait can be use | ||
| //! to create code that is generic of which communication backend it will use. | ||
| #[cfg(feature = "topic_provider")] | ||
| #[tokio::main] | ||
| async fn main() { | ||
| simple_logger::SimpleLogger::new() | ||
| .with_level(log::LevelFilter::Debug) | ||
| .without_timestamps() // required for running wsl2 | ||
| .init() | ||
| .unwrap(); | ||
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| use roslibrust::topic_provider::*; | ||
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| roslibrust_codegen_macro::find_and_generate_ros_messages!( | ||
| "assets/ros1_common_interfaces/std_msgs" | ||
| ); | ||
| // TopicProvider cannot be an "Object Safe Trait" due to its generic parameters | ||
| // This means we can't do: | ||
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| // Which specific TopicProvider you are going to use must be known at | ||
| // compile time! We can use features to build multiple copies of our | ||
| // executable with different backends. Or mix and match within a | ||
| // single application. The critical part is to make TopicProvider a | ||
| // generic type on you Node. | ||
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| struct MyNode<T: TopicProvider> { | ||
| ros: T, | ||
| name: String, | ||
| } | ||
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| impl<T: TopicProvider> MyNode<T> { | ||
| async fn run(self) { | ||
| let publisher = self | ||
| .ros | ||
| .advertise::<std_msgs::String>("/chatter") | ||
| .await | ||
| .unwrap(); | ||
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| loop { | ||
| let msg = std_msgs::String { | ||
| data: format!("Hello world from {}", self.name), | ||
| }; | ||
| publisher.publish(&msg).await.unwrap(); | ||
| tokio::time::sleep(std::time::Duration::from_millis(500)).await; | ||
| } | ||
| } | ||
| } | ||
|
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| // create a rosbridge handle and start node | ||
| let ros = roslibrust::ClientHandle::new("ws://localhost:9090") | ||
| .await | ||
| .unwrap(); | ||
| let node = MyNode { | ||
| ros, | ||
| name: "rosbridge_node".to_string(), | ||
| }; | ||
| tokio::spawn(async move { node.run().await }); | ||
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| // create a ros1 handle and start node | ||
| let ros = roslibrust::ros1::NodeHandle::new("http://localhost:11311", "/my_node") | ||
| .await | ||
| .unwrap(); | ||
| let node = MyNode { | ||
| ros, | ||
| name: "ros1_node".to_string(), | ||
| }; | ||
| tokio::spawn(async move { node.run().await }); | ||
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| loop { | ||
| tokio::time::sleep(std::time::Duration::from_millis(500)).await; | ||
| println!("sleeping"); | ||
| } | ||
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| // With this executable running | ||
| // RUST_LOG=debug cargo run --features ros1,topic_provider --example generic_client | ||
| // You should be able to run `rostopic echo /chatter` and see the two nodes print out their names. | ||
| // Note: this will not run without rosbridge running | ||
| } | ||
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| #[cfg(not(feature = "topic_provider"))] | ||
| fn main() {} |
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