Example fixed and helpler classes for msgs added

CMakeLists.txt

@@ -35,6 +35,7 @@ elseif(ament_cmake_FOUND)
   find_package(ament_cmake REQUIRED)
   find_package(rosidl_default_generators REQUIRED)
   find_package(std_msgs REQUIRED)
+  find_package(rclcpp REQUIRED)
 
   rosidl_generate_interfaces(${PROJECT_NAME}
     msg/DataPoint.msg
@@ -46,6 +47,31 @@ elseif(ament_cmake_FOUND)
     ADD_LINTER_TESTS
     )
 
+
+  add_executable(example example.cpp)
+
+  target_include_directories(example PRIVATE
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>)
+
+  rosidl_get_typesupport_target(cpp_typesupport_target
+    ${PROJECT_NAME} "rosidl_typesupport_cpp")
+  target_link_libraries(example "${cpp_typesupport_target}")
+
+  ament_target_dependencies(example rclcpp std_msgs)
+
+
+  install(DIRECTORY include/
+    DESTINATION include/${PROJECT_NAME}
+  )
+
+  ament_export_include_directories(
+    include
+  )
+  install(TARGETS
+    example
+    DESTINATION lib/${PROJECT_NAME})
+
   ament_export_dependencies(rosidl_default_runtime)
   ament_export_dependencies(std_msgs)
   ament_package()

example.cpp

@@ -3,54 +3,43 @@
 #include <rclcpp/rclcpp.hpp>
 #include <random>
 #include <cmath>
-#include "pj_msgs/msg/dictionary.hpp"
-#include "pj_msgs/msg/data_points.hpp"
+#include "plotjuggler_msgs/dictionary.hpp"
+#include "plotjuggler_msgs/data_point.hpp"
+#include "plotjuggler_msgs/data_points.hpp"
 
 using namespace std::chrono_literals;
 
-pj_msgs::msg::DataPoint CreateDataPoint(uint16_t name_index, double time, double value)
-{
-  pj_msgs::msg::DataPoint point;
-  point.stamp = time;
-  point.name_index = name_index;
-  point.value = value;
-  return point;
-}
-
 int main(int argc, char * argv[])
 {
   rclcpp::init(argc, argv);
   auto node = rclcpp::Node::make_shared("pj_test");
 
-  auto publisher_dict = node->create_publisher<pj_msgs::msg::Dictionary>("pj_msg_dictionary",
+  auto publisher_dict = node->create_publisher<plotjuggler_msgs::msg::Dictionary>("pj_msg_dictionary",
                                                                          rclcpp::QoS(10).transient_local());
-  auto publisher = node->create_publisher<pj_msgs::msg::DataPoints>("pj_msg_data", 10);
+  auto publisher = node->create_publisher<plotjuggler_msgs::msg::DataPoints>("pj_msg_data", 10);
 
   std::random_device rd;
   const uint32_t UUID = rd(); // just a random number
 
-  pj_msgs::msg::Dictionary dictionary;
-
-  dictionary.dictionary_uuid = UUID;
-  dictionary.names.push_back("sensor_a"); // index 0
-  dictionary.names.push_back("sensor_b"); // index 1
-  dictionary.names.push_back("sensor_c"); // index 2
+  plotjuggler_msgs::Dictionary dictionary(UUID);
+  dictionary.push_back("sensor_a"); // index 0
+  dictionary.push_back("sensor_b"); // index 1
+  dictionary.push_back("sensor_c"); // index 2
 
-  publisher_dict->publish(dictionary);
+  publisher_dict->publish(dictionary.msg());
 
 
   rclcpp::WallRate loop_rate(50ms);
   double t=0;
   while (rclcpp::ok()) {
 
     t += 0.1;
-    pj_msgs::msg::DataPoints msg;
-    msg.dictionary_uuid = UUID;
-    msg.samples.push_back( CreateDataPoint(0, t, std::sin(t)));
-    msg.samples.push_back( CreateDataPoint(1, t, std::cos(t)));
-    msg.samples.push_back( CreateDataPoint(2, t, 2*std::cos(t)));
+    plotjuggler_msgs::DataPoints points(UUID);
+    points.samples.push_back( plotjuggler_msgs::DataPoint(0, t, std::sin(t)).msg());
+    points.samples.push_back( plotjuggler_msgs::DataPoint(1, t, std::cos(t)).msg());
+    points.samples.push_back( plotjuggler_msgs::DataPoint(2, t, 2*std::cos(t)).msg());
 
-    publisher->publish(msg);
+    publisher->publish(points.msg());
     rclcpp::spin_some(node);
     loop_rate.sleep();
   }

include/plotjuggler_msgs/data_point.hpp

@@ -0,0 +1,25 @@
+#ifndef PLOTJUGGLER_MSGS__DATA_POINT_HPP_
+#define PLOTJUGGLER_MSGS__DATA_POINT_HPP_
+
+#include <plotjuggler_msgs/msg/data_point.hpp>
+
+namespace plotjuggler_msgs
+{
+struct DataPoint : public plotjuggler_msgs::msg::DataPoint
+{
+  DataPoint();
+  DataPoint(uint16_t name_index, double time, double value)
+  {
+    this->stamp = time;
+    this->name_index = name_index;
+    this->value = value;
+  }
+  const plotjuggler_msgs::msg::DataPoint& msg() const {
+    return static_cast<const plotjuggler_msgs::msg::DataPoint&>(*this);
+  }
+  plotjuggler_msgs::msg::DataPoint& msg() {
+    return static_cast<plotjuggler_msgs::msg::DataPoint&>(*this);
+  }
+};
+}  // namespace plotjuggler_msgs
+#endif  // PLOTJUGGLER_MSGS__DATA_POINT_HPP_

include/plotjuggler_msgs/data_points.hpp

@@ -0,0 +1,26 @@
+#ifndef PLOTJUGGLER_MSGS__DATA_POINTS_HPP_
+#define PLOTJUGGLER_MSGS__DATA_POINTS_HPP_
+
+#include <plotjuggler_msgs/msg/data_points.hpp>
+
+namespace plotjuggler_msgs
+{
+struct DataPoints : public plotjuggler_msgs::msg::DataPoints
+{
+  DataPoints();
+  DataPoints(uint32_t dictionary_uuid){
+    this->dictionary_uuid = dictionary_uuid;
+  }
+
+  void push_back(const plotjuggler_msgs::msg::DataPoint& data_point){
+    this->samples.push_back(data_point);
+  }
+  const plotjuggler_msgs::msg::DataPoints& msg() const {
+    return static_cast<const plotjuggler_msgs::msg::DataPoints&>(*this);
+  }
+  plotjuggler_msgs::msg::DataPoints& msg() {
+    return static_cast< plotjuggler_msgs::msg::DataPoints&>(*this);
+  }
+};
+}  // namespace plotjuggler_msgs
+#endif  // PLOTJUGGLER_MSGS__DATA_POINTS_HPP_

include/plotjuggler_msgs/dictionary.hpp

@@ -0,0 +1,25 @@
+#ifndef PLOTJUGGLER_MSGS__DICTIONARY_HPP_
+#define PLOTJUGGLER_MSGS__DICTIONARY_HPP_
+
+#include <plotjuggler_msgs/msg/dictionary.hpp>
+
+namespace plotjuggler_msgs
+{
+struct Dictionary : public plotjuggler_msgs::msg::Dictionary
+{
+  Dictionary();
+  Dictionary(uint32_t dictionary_uuid){
+    this->dictionary_uuid = dictionary_uuid;
+  }
+  void push_back(const std::string& name){
+    this->names.push_back(name);
+  }
+  const plotjuggler_msgs::msg::Dictionary& msg() const {
+    return static_cast<const plotjuggler_msgs::msg::Dictionary&>(*this);
+  }
+  plotjuggler_msgs::msg::Dictionary& msg() {
+    return static_cast<plotjuggler_msgs::msg::Dictionary&>(*this);
+  }
+};
+}  // namespace plotjuggler_msgs
+#endif  // PLOTJUGGLER_MSGS__DICTIONARY_HPP_

package.xml

@@ -10,6 +10,7 @@
     <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
     <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
     <buildtool_depend condition="$ROS_VERSION == 2">rosidl_default_generators</buildtool_depend>
+    <buildtool_depend condition="$ROS_VERSION == 2">rclcpp</buildtool_depend>
 
     <depend condition="$ROS_VERSION == 1">message_generation</depend>
     <depend condition="$ROS_VERSION == 1">message_runtime</depend>