Tutorial for cpp

src/CMakeLists.txt.jinja

@@ -192,6 +192,13 @@ include_directories(
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
+{% if "CPP" in LANGUAGES %}
+## Declare a C++ executable
+add_executable(talker src/main.cpp)
+target_link_libraries(talker ${catkin_LIBRARIES})
+add_dependencies(talker beginner_tutorials_generate_messages_cpp)
+{% endif %}
+
 {%if "Python" in LANGUAGES%}
 catkin_install_python(PROGRAMS scripts/main.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

src/Dockerfile.jinja

@@ -1,6 +1,7 @@
 # Stage 1: Build Stage
 FROM git.spirirobotics.com/spiri/services-ros1-core:main AS builder
 
+
 #We need to make sure to source the ROS environment in our dockerfile
 SHELL ["/bin/bash", "-c"]
 
@@ -19,6 +20,9 @@ RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && rosdep install --from-pat
 RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && catkin_make"
 RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && catkin_make install"
 
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc
+
 WORKDIR /root/catkin_ws
 
 RUN apt-get clean

src/{%if 'CPP' in LANGUAGES%}src{%endif%}/main.cpp

@@ -0,0 +1,85 @@
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+
+#include <sstream>
+
+/**
+ * This tutorial demonstrates simple sending of messages over the ROS system.
+ */
+int main(int argc, char **argv)
+{
+    /**
+     * The ros::init() function needs to see argc and argv so that it can perform
+     * any ROS arguments and name remapping that were provided at the command line.
+     * For programmatic remappings you can use a different version of init() which takes
+     * remappings directly, but for most command-line programs, passing argc and argv is
+     * the easiest way to do it.  The third argument to init() is the name of the node.
+     *
+     * You must call one of the versions of ros::init() before using any other
+     * part of the ROS system.
+     */
+    ros::init(argc, argv, "talker");
+
+    /**
+     * NodeHandle is the main access point to communications with the ROS system.
+     * The first NodeHandle constructed will fully initialize this node, and the last
+     * NodeHandle destructed will close down the node.
+     */
+    ros::NodeHandle n;
+
+    /**
+     * The advertise() function is how you tell ROS that you want to
+     * publish on a given topic name. This invokes a call to the ROS
+     * master node, which keeps a registry of who is publishing and who
+     * is subscribing. After this advertise() call is made, the master
+     * node will notify anyone who is trying to subscribe to this topic name,
+     * and they will in turn negotiate a peer-to-peer connection with this
+     * node.  advertise() returns a Publisher object which allows you to
+     * publish messages on that topic through a call to publish().  Once
+     * all copies of the returned Publisher object are destroyed, the topic
+     * will be automatically unadvertised.
+     *
+     * The second parameter to advertise() is the size of the message queue
+     * used for publishing messages.  If messages are published more quickly
+     * than we can send them, the number here specifies how many messages to
+     * buffer up before throwing some away.
+     */
+    ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
+
+    ros::Rate loop_rate(10);
+
+    /**
+     * A count of how many messages we have sent. This is used to create
+     * a unique string for each message.
+     */
+    int count = 0;
+    while (ros::ok())
+    {
+        /**
+         * This is a message object. You stuff it with data, and then publish it.
+         */
+        std_msgs::String msg;
+
+        std::stringstream ss;
+        ss << "hello world " << count;
+        msg.data = ss.str();
+
+        ROS_INFO("%s", msg.data.c_str());
+
+        /**
+         * The publish() function is how you send messages. The parameter
+         * is the message object. The type of this object must agree with the type
+         * given as a template parameter to the advertise<>() call, as was done
+         * in the constructor above.
+         */
+        chatter_pub.publish(msg);
+
+        ros::spinOnce();
+
+        loop_rate.sleep();
+        ++count;
+    }
+
+
+    return 0;
+}