Added examples

Author: pablogs9

examples/micro-ros_publisher/micro-ros_publisher.ino

@@ -0,0 +1,87 @@
+#include <micro_ros_arduino.h>
+
+#include <stdio.h>
+#include <rcl/rcl.h>
+#include <rcl/error_handling.h>
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+
+#include <std_msgs/msg/int32.h>
+
+rcl_publisher_t publisher;
+std_msgs__msg__Int32 msg;
+rclc_executor_t executor;
+rclc_support_t support;
+rcl_allocator_t allocator;
+rcl_node_t node;
+rcl_timer_t timer;
+
+#define LED_PIN 13
+
+#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
+#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
+
+
+void error_loop(){
+  while(1){
+    digitalWrite(LED_PIN, !digitalRead(LED_PIN));
+    delay(100);
+  }
+}
+
+void timer_callback(rcl_timer_t * timer, int64_t last_call_time)
+{  
+  UNUSED(last_call_time);
+  if (timer != NULL) {
+    RCSOFTCHECK(rcl_publish(&publisher, &msg, NULL));
+    msg.data++;
+  }
+}
+
+void setup() {
+  
+  pinMode(LED_PIN, OUTPUT);
+  digitalWrite(LED_PIN, HIGH);  
+  
+  delay(2000);
+
+  allocator = rcl_get_default_allocator();
+
+  //create init_options
+  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
+
+  // create node
+  node = rcl_get_zero_initialized_node();
+  RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_node", "", &support));
+
+  // create publisher
+  RCCHECK(rclc_publisher_init_default(
+    &publisher,
+    &node,
+    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+    "micro_ros_arduino_node_publisher"));
+
+  // create timer,
+  timer = rcl_get_zero_initialized_timer();
+  const unsigned int timer_timeout = 1000;
+  RCCHECK(rclc_timer_init_default(
+    &timer,
+    &support,
+    RCL_MS_TO_NS(timer_timeout),
+    timer_callback));
+
+  // create executor
+  executor = rclc_executor_get_zero_initialized_executor();
+  RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
+
+  unsigned int rcl_wait_timeout = 100;   // in ms
+  RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
+  RCCHECK(rclc_executor_add_timer(&executor, &timer));
+
+  msg.data = 0;
+}
+
+void loop() {
+  delay(100);
+  RCCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));
+}

examples/micro-ros_subscriber/micro-ros_subscriber.ino

@@ -0,0 +1,73 @@
+#include <micro_ros_arduino.h>
+
+#include <stdio.h>
+#include <rcl/rcl.h>
+#include <rcl/error_handling.h>
+#include <rclc/rclc.h>
+#include <rclc/executor.h>
+
+#include <std_msgs/msg/int32.h>
+
+rcl_subscription_t subscriber;
+std_msgs__msg__Int32 msg;
+rclc_executor_t executor;
+rclc_support_t support;
+rcl_allocator_t allocator;
+rcl_node_t node;
+rcl_timer_t timer;
+
+#define LED_PIN 13
+
+#define RCCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
+#define RCSOFTCHECK(fn) { rcl_ret_t temp_rc = fn; if((temp_rc != RCL_RET_OK)){error_loop();}}
+
+
+void error_loop(){
+  while(1){
+    digitalWrite(LED_PIN, !digitalRead(LED_PIN));
+    delay(100);
+  }
+}
+
+void subscription_callback(const void * msgin)
+{  
+  const std_msgs__msg__Int32 * msg = (const std_msgs__msg__Int32 *)msgin;
+  digitalWrite(LED_PIN, (msg->data == 0) ? LOW : HIGH);  
+}
+
+void setup() {
+  
+  pinMode(LED_PIN, OUTPUT);
+  digitalWrite(LED_PIN, HIGH);  
+  
+  delay(2000);
+
+  allocator = rcl_get_default_allocator();
+
+  //create init_options
+  RCCHECK(rclc_support_init(&support, 0, NULL, &allocator));
+
+  // create node
+  node = rcl_get_zero_initialized_node();
+  RCCHECK(rclc_node_init_default(&node, "micro_ros_arduino_node", "", &support));
+
+  // create subscriber
+  RCCHECK(rclc_subscription_init_default(
+    &subscriber,
+    &node,
+    ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32),
+    "micro_ros_arduino_subscriber"));
+
+  // create executor
+  executor = rclc_executor_get_zero_initialized_executor();
+  RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
+
+  unsigned int rcl_wait_timeout = 1000;   // in ms
+  RCCHECK(rclc_executor_set_timeout(&executor, RCL_MS_TO_NS(rcl_wait_timeout)));
+  RCCHECK(rclc_executor_add_subscription(&executor, &subscriber, &msg, &subscription_callback, ON_NEW_DATA));
+}
+
+void loop() {
+  delay(100);
+  RCCHECK(rclc_executor_spin_some(&executor, RCL_MS_TO_NS(100)));
+}