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int main(int argc, char * argv[]) {
rclcpp::init(argc, argv);
auto node = rclcpp::node::Node::make_shared("talker");
rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_default;
custom_qos_profile.depth = 7;
auto topic = std::string("chatter");
auto chatter_pub = node->create_publisher(
topic, custom_qos_profile);
rclcpp::WallRate loop_rate(2);
auto msg = std::make_shared();
auto i = 1;
while (rclcpp::ok()) {
msg->data = "Hello World: " + std::to_string(i++);
std::cout << "Publishing: '" << msg->data << "'" << std::endl;
chatter_pub->publish(msg);
rclcpp::spin_some(node);
loop_rate.sleep();
}
return 0;
}
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void chatterCallback(const std_msgs::msg::String::SharedPtr msg) {
std::cout << "I heard: [" << msg->data << "]" << std::endl;
}
int main(int argc, char * argv[]) {
rclcpp::init(argc, argv);
auto node = rclcpp::Node::make_shared("listener");
auto topic = std::string("chatter");
auto sub = node->create_subscription(
topic, chatterCallback, rmw_qos_profile_default);
rclcpp::spin(node);
return 0;
}
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https://docs.docker.com/docker-for-windows/install/
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FROM youtalk/ubuntu-ja:xenial
MAINTAINER Yutaka Kondo
RUN sh -c 'echo "deb http://packages.ros.org/ros/ubuntu xenial main" > \
/etc/apt/sources.list.d/ros-latest.list'
RUN apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys 421C365BD9FF1F717815A3895523BAEEB01FA11
RUN sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu xenial main" > \
/etc/apt/sources.list.d/gazebo-latest.list'
RUN apt-key adv --keyserver ha.pool.sks-keyservers.net --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
RUN apt-get update && apt-get -q -y install \
git wget build-essential cppcheck cmake \
libopencv-dev libpoco-dev libpocofoundation9v5 libpocofoundation9v5-dbg \
python-empy python3-dev python3-empy python3-nose python3-pip python3-setuptools python3-vcstool \
libtinyxml-dev libeigen3-dev clang-format \
pydocstyle pyflakes python3-coverage python3-mock python3-pep8 \
uncrustify libasio-dev libtinyxml2-dev \
libboost-chrono-dev libboost-date-time-dev libboost-program-options-dev \
libboost-regex-dev libboost-system-dev libboost-thread-dev \
&& rm -rf /var/lib/apt/lists/*
RUN pip3 install flake8 flake8-import-order
RUN mkdir -p /root/ros2_ws/src
WORKDIR /root/ros2_ws
RUN wget https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos
RUN vcs import src < ros2.repos
RUN src/ament/ament_tools/scripts/ament.py build --build-tests --symlink-install --isolated
COPY ./ros2_entrypoint.sh /
ENTRYPOINT ["/ros2_entrypoint.sh"]
CMD ["bash"]
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version: '2'
services:
talker:
image: youtalk/ros2-ja:xenial
command: talker
networks:
- ros2
listener:
image: youtalk/ros2-ja:xenial
command: listener
networks:
- ros2
networks:
ros2:
driver: bridge
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