simple_pub simple_sub as libraries; added back multihtread examples

Author: alsora

README.md

@@ -55,8 +55,14 @@ Running  `simple_client/timer_main` contains an alternative implementation for t
     $ ros2 run simple_logger logger_main
 ```
 
-Log some data. Change the logger verbosity level at run time. Log some other data.
+Log some messages. Change the logger verbosity level at run time. Log some other messages.
 
+#### ROS2 Multithread
+```
+    $ ros2 run simple_multithread multithread_main
+```
+
+Run multiple nodes in separate threads from the same process.
 
 #### Time Synchronization message filters
 ```

simple_client/timer_client.cpp

@@ -2,12 +2,9 @@
 
 #include "timer_client.hpp"
 
-
 using GetImageSrv = simple_interfaces::srv::GetImage;
 using namespace std::chrono_literals;
 
-
-
 TimerClientNode::TimerClientNode(std::string name) : Node(name)
 {
 

simple_multithread/CMakeLists.txt

@@ -13,13 +13,17 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(simple_publisher REQUIRED)
+find_package(simple_subscriber REQUIRED)
 
+add_executable(multithread_main multithread_main.cpp)
+ament_target_dependencies(multithread_main rclcpp simple_publisher simple_subscriber)
 
-add_executable(main main.cpp)
-ament_target_dependencies(main rclcpp simple_publisher)
+add_executable(executor_main executor_main.cpp)
+ament_target_dependencies(executor_main rclcpp simple_publisher simple_subscriber)
 
 install(TARGETS
-  main
+  multithread_main
+  executor_main
   DESTINATION lib/${PROJECT_NAME}
 )
 

simple_multithread/executor_main.cpp

@@ -0,0 +1,31 @@
+#include <chrono>
+#include <memory>
+#include <iostream>
+#include <thread>
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "simple_publisher.hpp"
+#include "simple_subscriber.hpp"
+
+
+int main(int argc, char ** argv)
+{
+    rclcpp::init(argc, argv);
+
+    std::shared_ptr<SimplePublisherNode> pub_node = std::make_shared<SimplePublisherNode>();
+    std::shared_ptr<SimpleSubscriberNode> sub_node = std::make_shared<SimpleSubscriberNode>();
+
+    rclcpp::executors::SingleThreadedExecutor::SharedPtr executor =
+        std::make_shared<rclcpp::executors::SingleThreadedExecutor>();
+
+    executor->add_node(pub_node);
+    executor->add_node(sub_node);
+
+    executor->spin();
+
+    rclcpp::shutdown();
+
+    return 0;
+
+}

simple_multithread/main.cpp

@@ -0,0 +1,31 @@
+#include <chrono>
+#include <memory>
+#include <iostream>
+#include <thread>
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "simple_publisher.hpp"
+#include "simple_subscriber.hpp"
+
+using namespace std::chrono_literals;
+
+int main(int argc, char ** argv)
+{
+    rclcpp::init(argc, argv);
+
+    std::shared_ptr<SimplePublisherNode> pub_node = std::make_shared<SimplePublisherNode>();
+    std::shared_ptr<SimpleSubscriberNode> sub_node = std::make_shared<SimpleSubscriberNode>();
+
+    std::thread pub_thread(static_cast<void (*)(rclcpp::Node::SharedPtr)>(rclcpp::spin), pub_node);
+    std::thread sub_thread(static_cast<void (*)(rclcpp::Node::SharedPtr)>(rclcpp::spin), sub_node);
+
+
+    std::this_thread::sleep_for(10s);
+
+
+    rclcpp::shutdown();
+
+    return 0;
+
+}

simple_multithread/multithread_main.cpp

@@ -12,9 +12,11 @@
 
   <build_depend>rclcpp</build_depend>
   <build_depend>simple_publisher</build_depend>
+  <build_depend>simple_subscriber</build_depend>
 
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>simple_publisher</exec_depend>
+  <exec_depend>simple_subscriber</exec_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

simple_multithread/package.xml

@@ -14,11 +14,34 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 
+include_directories(include)
+
+add_library(${PROJECT_NAME} simple_publisher.cpp)
+ament_target_dependencies(${PROJECT_NAME} rclcpp sensor_msgs)
+
+install(
+  TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
 
 add_executable(publisher_main publisher_main.cpp simple_publisher.cpp)
 ament_target_dependencies(publisher_main rclcpp std_msgs)
 
 install(TARGETS publisher_main
   DESTINATION lib/${PROJECT_NAME})
 
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(std_msgs)
+
 ament_package()

simple_publisher/CMakeLists.txt

@@ -31,9 +31,9 @@ Then we can populate the directory with authentication keys for our nodes.
 
 Now that we have defined some keys, it's necessary to enable the ROS2 security in all the terminals that we are using.
 
-    $ source security_scripts/enable_security.sh
+    $ source enable_security.sh
 
-**NOTE**: you can reset these environment variables by sourcing the `security_scripts/disable_security.sh` script.
+**NOTE**: you can reset these environment variables with `source disable_security.sh`.
 
 Now security is enabled.
 
@@ -69,7 +69,7 @@ As we have seen, as long as security options are enabled, only nodes with autent
 
 If we have our secured pub/sub system running, we can still however start a new node without security options.
 
-You can do that by opening a new terminal or with `source security_scripts/disable_security.sh`.
+You can do that by opening a new terminal or with `source disable_security.sh`.
 
     $ ros2 run simple_subscriber subscriber_main __node:=additional_subscriber