Added example rosbridge publisher node

Author: YichenLiu06

autonomy/teleop/rosbridge_publisher/CMakeLists.txt

@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.8)
+project(rosbridge_publisher)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sample_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_library(rosbridge_publisher_lib src/rosbridge_publisher_core.cpp)
+
+target_include_directories(rosbridge_publisher_lib PUBLIC include)
+
+add_executable(rosbridge_publisher_node src/rosbridge_publisher_node.cpp)
+ament_target_dependencies(rosbridge_publisher_lib rclcpp std_msgs sample_msgs)
+target_link_libraries(rosbridge_publisher_node rosbridge_publisher_lib)
+target_include_directories(rosbridge_publisher_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_features(rosbridge_publisher_node PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+install(TARGETS rosbridge_publisher_node
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

autonomy/teleop/rosbridge_publisher/include/rosbridge_publisher_core.hpp

@@ -0,0 +1,18 @@
+#ifndef ROSBRIDGE_PUBLISHER_CORE_HPP_
+#define ROSBRIDGE_PUBLISHER_CORE_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "sample_msgs/msg/hand_pose.hpp"
+
+class ROSbridgePublisherCore {
+public:
+
+  explicit ROSbridgePublisherCore();
+
+  std::string hand_pose_to_string(const sample_msgs::msg::HandPose pose);
+
+private:
+};
+
+#endif // AGGREGATOR_CORE_HPP_

autonomy/teleop/rosbridge_publisher/include/rosbridge_publisher_node.hpp

@@ -0,0 +1,31 @@
+#ifndef ROSBRIDGE_PUBLISHER_NODE_HPP_
+#define ROSBRIDGE_PUBLISHER_NODE_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "sample_msgs/msg/hand_pose.hpp"
+
+#include "rosbridge_publisher_core.hpp"
+
+/**
+ * Implementation of a ROS2 node that listens to the "unfiltered" and "filtered"
+ * topics and echoes the operating frequency of the topic to the console.
+ */
+class ROSbridgePublisherNode: public rclcpp::Node {
+public:
+  
+    ROSbridgePublisherNode();
+
+private:
+
+    void timer_callback();
+
+    rclcpp::TimerBase::SharedPtr timer_;
+
+    rclcpp::Publisher<sample_msgs::msg::HandPose>::SharedPtr hand_pose_pub_;
+
+    ROSbridgePublisherCore rosbridge_publisher_;
+
+};
+
+#endif

autonomy/teleop/rosbridge_publisher/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rosbridge_publisher</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="yichen.liu@hotmail.com">yichen</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>sample_msgs</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

autonomy/teleop/rosbridge_publisher/src/rosbridge_publisher_core.cpp

@@ -0,0 +1,19 @@
+#include <chrono>
+#include <cmath>
+
+#include "rosbridge_publisher_core.hpp"
+
+ROSbridgePublisherCore::ROSbridgePublisherCore(){}
+
+std::string ROSbridgePublisherCore::hand_pose_to_string(const sample_msgs::msg::HandPose pose)
+{
+  std::string s;
+  std::vector<float> hand_pose = pose.data;
+  s += "[";
+  for(int i=0; i < hand_pose.size(); i++){
+    s += std::to_string(hand_pose[i]);
+    s += ",";
+  }
+  s += "]";
+  return s;
+}

autonomy/teleop/rosbridge_publisher/src/rosbridge_publisher_node.cpp

@@ -0,0 +1,29 @@
+#include "rosbridge_publisher_node.hpp"
+
+#include <chrono>
+#include <memory>
+
+using namespace std::chrono_literals;
+
+ROSbridgePublisherNode::ROSbridgePublisherNode() : Node("rosbridge_publisher"), rosbridge_publisher_(ROSbridgePublisherCore())
+{
+
+  hand_pose_pub_ = this->create_publisher<sample_msgs::msg::HandPose>("teleop", 10);
+  timer_ = this->create_wall_timer(
+    500ms, std::bind(&ROSbridgePublisherNode::timer_callback, this)
+  );
+}
+
+void ROSbridgePublisherNode::timer_callback(){
+  auto message = sample_msgs::msg::HandPose();
+  message.data = std::vector<float>(17);
+  RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", rosbridge_publisher_.hand_pose_to_string(message).c_str());
+  hand_pose_pub_->publish(message);
+}
+
+int main(int argc, char **argv) {
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<ROSbridgePublisherNode>());
+  rclcpp::shutdown();
+  return 0;
+}

autonomy/wato_msgs/sample_msgs/CMakeLists.txt

@@ -17,7 +17,8 @@ set(msg_files
     msg/Filtered.msg
     msg/FilteredArray.msg
     msg/Unfiltered.msg
-    msg/Metadata.msg)
+    msg/Metadata.msg
+    msg/HandPose.msg)
 rosidl_generate_interfaces(sample_msgs
     ${msg_files}
     DEPENDENCIES std_msgs)