Minimal example code

Author: kazuki0824

include/pkgname/example_component.hpp

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+// Copyright (c) 2022 OUXT Polaris
+//
+// 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.
+
+#pragma once
+
+#include "pkgname/visibility_control.h"
+
+// Headers in ROS2
+#include <rclcpp/rclcpp.hpp>
+
+// Headers needed in pub/sub, exposed types
+#include <memory> // shared_ptr in pub_
+#include <perception_msgs/msg/tracking2_d.hpp> // Tracking2D in pub_
+
+namespace pkgname
+{
+class ExampleComponent : public rclcpp::Node
+{
+public:
+  PKGNAME_PUBLIC
+  explicit ExampleComponent(const rclcpp::NodeOptions & options);
+
+private:
+  std::shared_ptr<rclcpp::Publisher<perception_msgs::msg::Tracking2D>> pub_;
+};
+}

src/example_component.cpp

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+// Copyright (c) 2020 OUXT Polaris
+//
+// 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.
+
+// Headers in this package
+#include "pkgname/example_component.hpp"
+
+// Components
+#include <rclcpp_components/register_node_macro.hpp>
+
+// Headers needed in this component
+
+namespace pkgname
+{
+ExampleComponent::ExampleComponent(const rclcpp::NodeOptions & options)
+: Node("example_node", options)
+{
+  //TODO:
+}
+}
+
+RCLCPP_COMPONENTS_REGISTER_NODE(pkgname::ExampleComponent)

src/example_node.cpp

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+// Copyright (c) 2022 OUXT Polaris
+//
+// 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.
+
+// Headers in this package
+#include <pkgname/example_component.hpp>
+
+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::NodeOptions options;
+  auto component = std::make_shared<pkgname::ExampleComponent>(options);
+  rclcpp::spin(component);
+  rclcpp::shutdown();
+  return 0;
+}