Add API samples on main branch - Rolling C++ API examples (#1068)

* Take samples from Galactic, rename to rosbag2_exampes_cpp, update for Rolling usage

Signed-off-by: Emerson Knapp <[email protected]>

.github/workflows/lint.yml

@@ -25,6 +25,7 @@ jobs:
             rosbag2_compression
             rosbag2_compression_zstd
             rosbag2_cpp
+            rosbag2_examples_cpp
             rosbag2_interfaces
             rosbag2_py
             rosbag2_storage
@@ -53,6 +54,7 @@ jobs:
             rosbag2_compression
             rosbag2_compression_zstd
             rosbag2_cpp
+            rosbag2_examples_cpp
             rosbag2_py
             rosbag2_storage
             rosbag2_storage_default_plugins

.github/workflows/test.yml

@@ -25,6 +25,7 @@ jobs:
           rosbag2_compression
           rosbag2_compression_zstd
           rosbag2_cpp
+          rosbag2_examples_cpp
           rosbag2_interfaces
           rosbag2_py
           rosbag2_storage

rosbag2_examples/rosbag2_examples_cpp/CMakeLists.txt

@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 3.5)
+project(rosbag2_examples_cpp)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+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(rosbag2_cpp REQUIRED)
+find_package(example_interfaces REQUIRED)
+
+add_executable(simple_bag_recorder src/simple_bag_recorder.cpp)
+ament_target_dependencies(simple_bag_recorder rclcpp rosbag2_cpp example_interfaces)
+
+install(TARGETS
+  simple_bag_recorder
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+add_executable(data_generator_node src/data_generator_node.cpp)
+ament_target_dependencies(data_generator_node rclcpp rosbag2_cpp example_interfaces)
+
+install(TARGETS
+  data_generator_node
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+add_executable(data_generator_executable src/data_generator_executable.cpp)
+ament_target_dependencies(data_generator_executable rclcpp rosbag2_cpp example_interfaces)
+
+install(TARGETS
+  data_generator_executable
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

rosbag2_examples/rosbag2_examples_cpp/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>rosbag2_examples_cpp</name>
+  <version>0.0.0</version>
+  <description>rosbag2 C++ API tutorials and examples</description>
+  <maintainer email="[email protected]">geoff</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rosbag2_cpp</depend>
+  <depend>example_interfaces</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

rosbag2_examples/rosbag2_examples_cpp/src/data_generator_executable.cpp

@@ -0,0 +1,52 @@
+// Copyright 2021 Open Source Robotics Foundation
+//
+// 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.
+
+#include <chrono>
+#include <memory>
+
+#include "example_interfaces/msg/int32.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "rosbag2_cpp/writer.hpp"
+#include "rosbag2_cpp/writers/sequential_writer.hpp"
+#include "rosbag2_storage/serialized_bag_message.hpp"
+
+using namespace std::chrono_literals;
+
+int main(int, char **)
+{
+  example_interfaces::msg::Int32 data;
+  data.data = 0;
+  std::unique_ptr<rosbag2_cpp::Writer> writer_ = std::make_unique<rosbag2_cpp::Writer>();
+
+  writer_->open("big_synthetic_bag");
+
+  writer_->create_topic(
+  {
+    "synthetic",
+    "example_interfaces/msg/Int32",
+    rmw_get_serialization_format(),
+    ""
+  });
+
+  rclcpp::Clock clock;
+  rclcpp::Time time_stamp = clock.now();
+  for (int32_t ii = 0; ii < 100; ++ii) {
+    writer_->write(data, "synthetic", time_stamp);
+    ++data.data;
+    time_stamp += rclcpp::Duration(1s);
+  }
+
+  return 0;
+}

rosbag2_examples/rosbag2_examples_cpp/src/data_generator_node.cpp

@@ -0,0 +1,66 @@
+// Copyright 2021 Open Source Robotics Foundation
+//
+// 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.
+
+#include <chrono>
+#include <memory>
+
+#include "example_interfaces/msg/int32.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "rosbag2_cpp/writer.hpp"
+
+using namespace std::chrono_literals;
+
+class DataGenerator : public rclcpp::Node
+{
+public:
+  DataGenerator()
+  : Node("data_generator")
+  {
+    data.data = 0;
+    writer_ = std::make_unique<rosbag2_cpp::Writer>();
+
+    writer_->open("timed_synthetic_bag");
+
+    writer_->create_topic(
+    {
+      "synthetic",
+      "example_interfaces/msg/Int32",
+      rmw_get_serialization_format(),
+      ""
+    });
+
+    timer_ = create_wall_timer(1s, std::bind(&DataGenerator::timer_callback, this));
+  }
+
+private:
+  void timer_callback()
+  {
+    writer_->write(data, "synthetic", now());
+
+    ++data.data;
+  }
+
+  rclcpp::TimerBase::SharedPtr timer_;
+  std::unique_ptr<rosbag2_cpp::Writer> writer_;
+  example_interfaces::msg::Int32 data;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<DataGenerator>());
+  rclcpp::shutdown();
+  return 0;
+}

rosbag2_examples/rosbag2_examples_cpp/src/simple_bag_recorder.cpp

@@ -0,0 +1,55 @@
+// Copyright 2021 Open Source Robotics Foundation
+//
+// 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.
+
+#include <memory>
+
+#include "example_interfaces/msg/string.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+#include "rosbag2_cpp/writer.hpp"
+
+using std::placeholders::_1;
+
+class SimpleBagRecorder : public rclcpp::Node
+{
+public:
+  SimpleBagRecorder()
+  : Node("simple_bag_recorder")
+  {
+    writer_ = std::make_unique<rosbag2_cpp::Writer>();
+
+    writer_->open("my_bag");
+
+    subscription_ = create_subscription<example_interfaces::msg::String>(
+      "chatter", 10, std::bind(&SimpleBagRecorder::topic_callback, this, _1));
+  }
+
+private:
+  void topic_callback(std::shared_ptr<rclcpp::SerializedMessage> msg) const
+  {
+    rclcpp::Time time_stamp = this->now();
+    writer_->write(msg, "chatter", "example_interfaces/msg/String", time_stamp);
+  }
+
+  rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr subscription_;
+  std::unique_ptr<rosbag2_cpp::Writer> writer_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<SimpleBagRecorder>());
+  rclcpp::shutdown();
+  return 0;
+}