Writing a Composable Node (C++) Tutorial #4106
Conversation
Whitespaaaaaaaaaaaaaaaaaaaaaaaaaaaaaaace
There was a problem hiding this comment.
@DLu overall, explanation looks good to me.
one question, can we use https://github.com/ros2/demos/tree/rolling/composition example for this explanation instead of VincentDriver.
precisely the examples like,
- https://github.com/ros2/demos/blob/rolling/composition/CMakeLists.txt
- https://github.com/ros2/demos/blob/rolling/composition/src/talker_component.cpp
- https://github.com/ros2/demos/blob/rolling/composition/launch/composition_demo_launch.py
i think that would be easier to see the whole process and concrete example with that, since the same contents are used in https://docs.ros.org/en/rolling/Tutorials/Intermediate/Composition.html
| @@ -499,7 +499,7 @@ If not present, registration macros must be added to the project's CMake. | |||
| add_library(listener src/listener.cpp) | |||
| rclcpp_components_register_nodes(listener "composition::Listener") | |||
|
|
|||
| For more information on composition, see `the tutorial <https://index.ros.org/doc/ros2/Tutorials/Composition/>`__ | |||
| For more information on composition, see `the tutorial <../Tutorials/Intermediate/Writing-a-Composable-Node>` | |||
There was a problem hiding this comment.
I'm on the fence about this one. I know the change targets rolling, but I think I'd prefer not to change the Dashing stuff at this point. So I'll suggest just removing this for now.
There was a problem hiding this comment.
I only found this because I found it via grep when looking for an existing tutorial. I'm not tied to it, but if someone else stumbles on this page and wants to follow through with this, then I figure the extra link will be helpful.
Co-authored-by: Chris Lalancette <[email protected]> Signed-off-by: David V. Lu!! <[email protected]>
|
@fujitatomoya I must admit I didn't know that code was in there. I've added links to the relevant files. Sure would be nice if someone else made a Python version of this tutorial. |
Unfortunately that isn't possible at present, since we don't support composing in Python. |
|
@clalancette Do we need anything else? |
clalancette
added
backport-all
Co-authored-by: Chris Lalancette <[email protected]> Signed-off-by: David V. Lu!! <[email protected]>
* Writing a Composable Node (C++) Tutorial * Add Package.xml note * Add links to demos Signed-off-by: David V. Lu!! <[email protected]> Co-authored-by: Chris Lalancette <[email protected]> (cherry picked from commit 0c79b0f)
* Writing a Composable Node (C++) Tutorial * Add Package.xml note * Add links to demos Signed-off-by: David V. Lu!! <[email protected]> Co-authored-by: Chris Lalancette <[email protected]> (cherry picked from commit 0c79b0f)
* Writing a Composable Node (C++) Tutorial * Add Package.xml note * Add links to demos Signed-off-by: David V. Lu!! <[email protected]> Co-authored-by: Chris Lalancette <[email protected]> (cherry picked from commit 0c79b0f) Co-authored-by: David V. Lu!! <[email protected]>
* Writing a Composable Node (C++) Tutorial * Add Package.xml note * Add links to demos Signed-off-by: David V. Lu!! <[email protected]> Co-authored-by: Chris Lalancette <[email protected]> (cherry picked from commit 0c79b0f) Co-authored-by: David V. Lu!! <[email protected]>
|
Thanks @clalancette ! |
New tutorial, brought to you by Vincent