update examples

Signed-off-by: Michael X. Grey <[email protected]>

Author: mxgrey

examples/message_demo/src/message_demo.rs

@@ -3,6 +3,8 @@ use std::convert::TryInto;
 use anyhow::{Error, Result};
 use rosidl_runtime_rs::{seq, BoundedSequence, Message, Sequence};
 
+use rclrs::RclrsErrorFilter;
+
 fn check_default_values() {
     let msg = rclrs_example_msgs::msg::rmw::VariousTypes::default();
     assert!(msg.bool_member);
@@ -166,10 +168,10 @@ fn demonstrate_pubsub() -> Result<(), Error> {
         )?;
     println!("Sending idiomatic message.");
     idiomatic_publisher.publish(rclrs_example_msgs::msg::VariousTypes::default())?;
-    executor.spin(rclrs::SpinOptions::spin_once())?;
+    executor.spin(rclrs::SpinOptions::spin_once()).first_error()?;
     println!("Sending RMW-native message.");
     direct_publisher.publish(rclrs_example_msgs::msg::rmw::VariousTypes::default())?;
-    executor.spin(rclrs::SpinOptions::spin_once())?;
+    executor.spin(rclrs::SpinOptions::spin_once()).first_error()?;
 
     Ok(())
 }

examples/minimal_client_service/src/minimal_client.rs

@@ -1,4 +1,5 @@
 use anyhow::{Error, Result};
+use rclrs::RclrsErrorFilter;
 
 fn main() -> Result<(), Error> {
     let mut executor = rclrs::Context::default_from_env()?.create_basic_executor();
@@ -30,5 +31,6 @@ fn main() -> Result<(), Error> {
     println!("Waiting for response");
     executor
         .spin(rclrs::SpinOptions::default())
+        .first_error()
         .map_err(|err| err.into())
 }

examples/minimal_client_service/src/minimal_service.rs

@@ -1,4 +1,5 @@
 use anyhow::{Error, Result};
+use rclrs::RclrsErrorFilter;
 
 fn handle_service(
     _request_header: &rclrs::rmw_request_id_t,
@@ -21,5 +22,6 @@ fn main() -> Result<(), Error> {
     println!("Starting server");
     executor
         .spin(rclrs::SpinOptions::default())
+        .first_error()
         .map_err(|err| err.into())
 }

examples/minimal_pub_sub/src/minimal_subscriber.rs

@@ -1,4 +1,5 @@
 use anyhow::{Error, Result};
+use rclrs::RclrsErrorFilter;
 
 fn main() -> Result<(), Error> {
     let context = rclrs::Context::default_from_env()?;
@@ -20,5 +21,6 @@ fn main() -> Result<(), Error> {
 
     executor
         .spin(rclrs::SpinOptions::default())
+        .first_error()
         .map_err(|err| err.into())
 }

examples/minimal_pub_sub/src/minimal_two_nodes.rs

@@ -2,6 +2,7 @@ use std::sync::{
     atomic::{AtomicU32, Ordering},
     Arc, Mutex,
 };
+use rclrs::RclrsErrorFilter;
 
 use anyhow::{Error, Result};
 
@@ -75,5 +76,6 @@ fn main() -> Result<(), Error> {
 
     executor
         .spin(rclrs::SpinOptions::default())
+        .first_error()
         .map_err(|err| err.into())
 }

examples/minimal_pub_sub/src/zero_copy_subscriber.rs

@@ -1,4 +1,5 @@
 use anyhow::{Error, Result};
+use rclrs::RclrsErrorFilter;
 
 fn main() -> Result<(), Error> {
     let mut executor = rclrs::Context::default_from_env()?.create_basic_executor();
@@ -19,5 +20,6 @@ fn main() -> Result<(), Error> {
 
     executor
         .spin(rclrs::SpinOptions::default())
+        .first_error()
         .map_err(|err| err.into())
 }

examples/rust_pubsub/src/simple_publisher.rs

@@ -1,4 +1,4 @@
-use rclrs::{Context, Executor, Publisher, RclrsError, SpinOptions, QOS_PROFILE_DEFAULT};
+use rclrs::{Context, Executor, Publisher, RclrsError, SpinOptions, QOS_PROFILE_DEFAULT, RclrsErrorFilter};
 use std::{sync::Arc, thread, time::Duration};
 use std_msgs::msg::String as StringMsg;
 
@@ -33,5 +33,5 @@ fn main() -> Result<(), RclrsError> {
         thread::sleep(Duration::from_millis(1000));
         count = publisher_other_thread.publish_data(count).unwrap();
     });
-    executor.spin(SpinOptions::default())
+    executor.spin(SpinOptions::default()).first_error()
 }

examples/rust_pubsub/src/simple_subscriber.rs

@@ -1,4 +1,4 @@
-use rclrs::{Context, Executor, RclrsError, SpinOptions, Subscription, QOS_PROFILE_DEFAULT};
+use rclrs::{Context, Executor, RclrsError, SpinOptions, Subscription, QOS_PROFILE_DEFAULT, RclrsErrorFilter};
 use std::{
     sync::{Arc, Mutex},
     thread,
@@ -44,5 +44,5 @@ fn main() -> Result<(), RclrsError> {
         thread::sleep(Duration::from_millis(1000));
         subscription_other_thread.data_callback().unwrap()
     });
-    executor.spin(SpinOptions::default())
+    executor.spin(SpinOptions::default()).first_error()
 }