Initial Rolling support

Update client


Update


Update

Author: pablogs9

rclc/autodiscover_agent/CMakeLists.txt

@@ -6,6 +6,7 @@ find_package(ament_cmake REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rclc REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(microxrcedds_client REQUIRED)
 find_package(rmw_microxrcedds REQUIRED)
 find_package(microxrcedds_client REQUIRED)
 
@@ -19,6 +20,7 @@ ament_target_dependencies(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
+  microxrcedds_client
   rmw_microxrcedds
   microxrcedds_client
   )

rclc/configuration_example/configured_publisher/CMakeLists.txt

@@ -6,14 +6,20 @@ find_package(ament_cmake REQUIRED)
 find_package(rcl REQUIRED)
 find_package(rclc REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(microxrcedds_client REQUIRED)
 find_package(rmw_microxrcedds REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
+target_link_libraries(${PROJECT_NAME}
+  microxrcedds_client
+)
+
 ament_target_dependencies(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
+  microxrcedds_client
   rmw_microxrcedds
   )
 

rclc/configuration_example/configured_publisher/main.c

@@ -43,16 +43,18 @@ int main(int argc, char * const argv[])
 	RCCHECK(rmw_uros_options_set_udp_address(argv[1], argv[2], rmw_options))
 	RCCHECK(rmw_uros_options_set_client_key(0xCAFEBABA, rmw_options))
 
+	size_t domain_id = (size_t)(argc == 4 ? atoi(argv[3]) : 0);
+	const char * node_name = "int32_configured_publisher_rclc";
+
+	rcl_init_options_set_domain_id(&init_options, domain_id);
+	printf("Initializing RCL '%s' with ROS Domain ID %ld...\n", node_name, domain_id);
+
 	// create init_options
 	RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));
 
 	// create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(argc == 4 ? atoi(argv[3]) : 0);
-	const char * node_name = "int32_configured_publisher_rclc";
-	printf("Initializing node '%s' with ROS Domain ID %ld...\n",node_name, node_ops.domain_id);
-	RCCHECK(rclc_node_init_with_options(&node, node_name, "", &support, &node_ops));
+	RCCHECK(rclc_node_init_default(&node, node_name, "", &support));
 
 	// create publisher
 	RCCHECK(rclc_publisher_init_default(

rclc/configuration_example/configured_subscriber/CMakeLists.txt

@@ -7,13 +7,19 @@ find_package(rcl REQUIRED)
 find_package(rclc REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(rmw_microxrcedds REQUIRED)
+find_package(microxrcedds_client REQUIRED)
 
 add_executable(${PROJECT_NAME} main.c)
 
+target_link_libraries(${PROJECT_NAME}
+  microxrcedds_client
+)
+
 ament_target_dependencies(${PROJECT_NAME}
   rcl
   rclc
   std_msgs
+  microxrcedds_client
   rmw_microxrcedds
   )
 

rclc/configuration_example/configured_subscriber/main.c

@@ -39,16 +39,18 @@ int main(int argc, const char * const * argv)
 	RCCHECK(rmw_uros_options_set_udp_address(argv[1], argv[2], rmw_options))
 	RCCHECK(rmw_uros_options_set_client_key(0xCAFEBABE, rmw_options))
 
+	size_t domain_id = (size_t)(argc == 4 ? atoi(argv[3]) : 0);
+	const char * node_name = "int32_configured_subscriber_rclc";
+
+	rcl_init_options_set_domain_id(&init_options, domain_id);
+	printf("Initializing RCL '%s' with ROS Domain ID %ld...\n", node_name, domain_id);
+
 	// create init_options
 	RCCHECK(rclc_support_init_with_options(&support, 0, NULL, &init_options, &allocator));
 
 	// create node
 	rcl_node_t node;
-	rcl_node_options_t node_ops = rcl_node_get_default_options();
-	node_ops.domain_id = (size_t)(argc == 4 ? atoi(argv[3]) : 0);
-	const char * node_name = "int32_configured_subscriber_rclc";
-	printf("Initializing node '%s' with ROS Domain ID %ld...\n", node_name, node_ops.domain_id);
-	RCCHECK(rclc_node_init_with_options(&node, node_name, "", &support, &node_ops));
+	RCCHECK(rclc_node_init_default(&node, node_name, "", &support));
 
 	// create subscriber
 	RCCHECK(rclc_subscription_init_default(