Ros2 shared lib #505
Ros2 shared lib #505
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bjoernschroeder
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| ${geometry_msgs_LIBRARIES} | ||
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| add_subdirectory(../libalica-turtlesim ../libalica-turtlesim) |
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Because the "subdirectory" is not an actual subdirectory of ros1 we have to provide a relative build path for it. This allows us to build alica_ros_turtlesim without it being a package
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supplementary/alica_ros_turtlesim/ros2/libalica-ros2-utils/include/WaitForMsg.h
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supplementary/alica_ros_turtlesim/ros2/libalica-ros2-utils/include/WaitForTrigger.h
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| LockedBlackboardRW bb(ac->editGlobalBlackboard()); | ||
| bb.set<std::shared_ptr<turtlesim::TurtleInterfaces>>("turtle", std::make_shared<turtlesim::TurtleRos2Interfaces>(name)); | ||
| bb.set("spawned", false); |
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we want do it after creating external thread?
* after is more like about order in code, we don't have any gurarntees when thread will be created
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The order doesnt matter in this case, whats important is that before we intiialize the alicaContext, we set the value in the blackboard. Only after that plans and behaviours will be executed and they need acess to this blackboard value.
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| rclcpp::CallbackGroup::SharedPtr spawnCallback = _nh->create_callback_group(rclcpp::CallbackGroupType::Reentrant); | ||
| _spawnClient = _nh->create_client<turtlesim::srv::Spawn>("/spawn", rmw_qos_profile_services_default, spawnCallback); | ||
| _spinThread = std::thread([this]() { _spinner.spin(); }); |
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not clear for me how this thread should stop execution and why it's not joined. (same above but OOS)
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We usually kill the app with ctrl+c and dont do a proper clean up, maybe we should cancel the spinner and join the thread when we receive the kill signal.
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I guess ROS has a ctrl+c handler which not immediately kills the whole system and trying to shut it down properly
It could be great if we could make it more aligned with C++ standard
supplementary/alica_ros_turtlesim/ros2/src/turtle_ros2_interfaces.cpp
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… alica_turtlesim as subdir
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Share PML files and implementation for plans between ros1 and ros2 turtlesim. This PR only includes changes for ros2.
ros1 PR: Share lib between ros1 and ros2 turtlesim #502