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Deployed Publisher- and Subscription-convenience functions with qos best effort in ping_pong #26

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Merged
pablogs9 merged 4 commits into from
Jul 14, 2020
Merged

Deployed Publisher- and Subscription-convenience functions with qos best effort in ping_pong #26

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645070e
use rclc_subscription_init_best_effort
JanStaschulat Jun 15, 2020
d31efc6
corrected change.
JanStaschulat Jun 15, 2020
9ab9fb8
corrected change 2.
JanStaschulat Jun 15, 2020
03f11e6
use of rclc_publisher_init_best_effort function
JanStaschulat Jun 15, 2020
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9 changes: 3 additions & 6 deletions rclc/ping_pong/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -89,16 +89,13 @@ void main()
RCCHECK(rclc_publisher_init_default(&ping_publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/ping"));

// Create a best effort pong publisher
// TODO (pablogs9): RCLC best effort not implemented
RCCHECK(rclc_publisher_init_default(&pong_publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/pong"));
RCCHECK(rclc_publisher_init_best_effort(&pong_publisher, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/pong"));

// Create a best effort ping subscriber
// TODO (pablogs9): RCLC best effort not implemented
RCCHECK(rclc_subscription_init_default(&ping_subscriber, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/ping"));
RCCHECK(rclc_subscription_init_best_effort(&ping_subscriber, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/ping"));

// Create a best effort pong subscriber
// TODO (pablogs9): RCLC best effort not implemented
RCCHECK(rclc_subscription_init_default(&pong_subscriber, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/pong"));
RCCHECK(rclc_subscription_init_best_effort(&pong_subscriber, &node, ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Header), "/microROS/pong"));


// Create a 3 seconds ping timer timer,
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