Merge branch 'branch-source' into HEAD

example/idl/rosPortable/CMakeLists.txt

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+# SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
+# SPDX-License-Identifier: BSD-3-Clause
+
+cmake_minimum_required(VERSION 3.16)
+
+find_package(YARP COMPONENTS os idl_tools REQUIRED)
+
+include_directories(${CMAKE_CURRENT_SOURCE_DIR})
+
+set(ALLOW_IDL_GENERATION TRUE)
+set(generated_libs_dir ${CMAKE_CURRENT_BINARY_DIR})
+yarp_idl_to_dir(SharedData.msg ${generated_libs_dir})
+include_directories(${generated_libs_dir}/include)
+
+add_executable(sender)
+target_sources(sender PRIVATE sender.cpp)
+target_link_libraries(sender PRIVATE ${YARP_LIBRARIES})
+
+add_executable(receiver)
+target_sources(receiver PRIVATE receiver.cpp)
+target_link_libraries(receiver PRIVATE ${YARP_LIBRARIES})
+
+add_executable(sender2)
+target_sources(sender2 PRIVATE sender2.cpp)
+target_link_libraries(sender2 PRIVATE ${YARP_LIBRARIES})
+
+add_executable(receiver2)
+target_sources(receiver2 PRIVATE receiver2.cpp)
+target_link_libraries(receiver2 PRIVATE ${YARP_LIBRARIES})

example/idl/rosPortable/SharedData.msg

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+string text
+float64[] content

example/idl/rosPortable/receiver.cpp

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+/*
+ * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <yarp/rosmsg/SharedData.h>
+#include <iostream>
+#include <yarp/os/Network.h>
+#include <yarp/os/BufferedPort.h>
+
+using namespace std;
+
+int main()
+{
+    yarp::os::Network network;
+
+    cout<<"Starting receiver\n";
+
+    yarp::os::Port port;
+    if (!port.open("/receiver"))
+    {
+        cerr<<"Error opening port, check your yarp network\n";
+        return -1;
+    }
+
+    network.connect("/sender", "/receiver");
+
+    int count=0;
+    while(true)
+    {
+        yarp::rosmsg::SharedData d;
+        port.read(d);
+
+        //access d
+        cout << count << " Received SharedData:\n";
+        cout << d.text << "\n";
+        for (int i=0; i<d.content.size(); i++)
+        {
+            cout<<d.content[i]<<" ";
+        }
+        cout<<"\n";
+        count++;
+    }
+
+    return 0;
+}

example/idl/rosPortable/receiver2.cpp

@@ -0,0 +1,48 @@
+/*
+ * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <yarp/rosmsg/SharedData.h>
+#include <iostream>
+#include <yarp/os/Network.h>
+#include <yarp/os/Node.h>
+#include <yarp/os/Subscriber.h>
+
+using namespace std;
+
+int main()
+{
+    yarp::os::Network network;
+
+    cout<<"Starting receiver\n";
+
+    yarp::os::Node node("/receiver/node");  // added a Node
+    yarp::os::Subscriber<yarp::rosmsg::SharedData> port;  // changed Port to Subscriber
+    if (!port.topic("/data"))               // replaced open() with topic()
+    {
+        cerr<<"Error opening port, check your yarp network\n";
+        return -1;
+    }
+
+    // network.connect("/sender", "/receiver"); // don't need this anymore
+
+    int count=0;
+    while(true)
+    {
+        yarp::rosmsg::SharedData d;
+        port.read(d);
+
+        //access d
+        cout << count << " Received SharedData:\n";
+        cout << d.text << "\n";
+        for (int i=0; i<d.content.size(); i++)
+        {
+            cout<<d.content[i]<<" ";
+        }
+        cout<<"\n";
+        count++;
+    }
+
+    return 0;
+}

example/idl/rosPortable/sender.cpp

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+/*
+ * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <yarp/rosmsg/SharedData.h>
+#include <iostream>
+#include <yarp/os/Network.h>
+#include <yarp/os/BufferedPort.h>
+#include <yarp/os/Time.h>
+
+using namespace std;
+
+int main()
+{
+    yarp::os::Network network;
+
+    yarp::os::Port port;
+
+    if (!port.open("/sender"))
+    {
+        cerr<<"Error opening port, check your yarp network\n";
+        return -1;
+    }
+
+    cout<<"Starting sender\n";
+    double count=0.0;
+    while(true)
+    {
+        yarp::rosmsg::SharedData d;
+
+        // d.text is a string
+        d.text="Hello from sender";
+
+        //d.content is a vector, let's push some data
+        d.content.push_back(count++);
+        d.content.push_back(count++);
+
+        port.write(d);
+
+        yarp::os::Time::delay(0.1);
+    }
+
+    return 0;
+}

example/idl/rosPortable/sender2.cpp

@@ -0,0 +1,47 @@
+/*
+ * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <yarp/rosmsg/SharedData.h>
+#include <iostream>
+#include <yarp/os/Network.h>
+#include <yarp/os/Node.h>
+#include <yarp/os/Publisher.h>
+#include <yarp/os/Time.h>
+
+using namespace std;
+
+int main()
+{
+    yarp::os::Network network;
+
+    yarp::os::Node node("/sender/node");   // added a Node
+    yarp::os::Publisher<yarp::rosmsg::SharedData> port;  // changed Port to Publisher
+
+    if (!port.topic("/data"))              // replaced open() with topic()
+    {
+        cerr<<"Error opening port, check your yarp network\n";
+        return -1;
+    }
+
+    cout<<"Starting sender\n";
+    double count=0.0;
+    while(true)
+    {
+        yarp::rosmsg::SharedData d;
+
+        // d.text is a string
+        d.text="Hello from sender";
+
+        //d.content is a vector, let's push some data
+        d.content.push_back(count++);
+        d.content.push_back(count++);
+
+        port.write(d);
+
+        yarp::os::Time::delay(0.1);
+    }
+
+   return 0;
+}

example/ros/CMakeLists.txt

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+# SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
+# SPDX-License-Identifier: BSD-3-Clause
+
+cmake_minimum_required(VERSION 3.16)
+project(yarp_ros_example)
+
+find_package(YARP 3.3.103 COMPONENTS os dev math rosmsg idl_tools REQUIRED)
+
+add_executable(add_int_client_v1)
+target_sources(add_int_client_v1 PRIVATE add_int_client_v1.cpp)
+target_link_libraries(add_int_client_v1 PRIVATE YARP::YARP_os
+                                                YARP::YARP_init
+                                                YARP::YARP_rosmsg)
+
+add_executable(add_int_client_v2)
+target_sources(add_int_client_v2 PRIVATE add_int_client_v2.cpp)
+target_link_libraries(add_int_client_v2 PRIVATE YARP::YARP_os
+                                                YARP::YARP_init
+                                                YARP::YARP_rosmsg)
+
+add_executable(add_int_server_v1)
+target_sources(add_int_server_v1 PRIVATE add_int_server_v1.cpp)
+target_link_libraries(add_int_server_v1 PRIVATE YARP::YARP_os
+                                                YARP::YARP_init
+                                                YARP::YARP_rosmsg)
+
+add_executable(listener_v1)
+target_sources(listener_v1 PRIVATE listener_v1.cpp)
+target_link_libraries(listener_v1 PRIVATE YARP::YARP_os
+                                          YARP::YARP_init
+                                          YARP::YARP_rosmsg)
+
+add_executable(listener_v2)
+target_sources(listener_v2 PRIVATE listener_v2.cpp)
+target_link_libraries(listener_v2 PRIVATE YARP::YARP_os
+                                          YARP::YARP_init
+                                          YARP::YARP_rosmsg)
+
+add_executable(listener)
+target_sources(listener PRIVATE listener.cpp)
+target_link_libraries(listener PRIVATE YARP::YARP_os
+                                       YARP::YARP_init
+                                       YARP::YARP_rosmsg)
+
+add_executable(talker)
+target_sources(talker PRIVATE talker.cpp)
+target_link_libraries(talker PRIVATE YARP::YARP_os
+                                     YARP::YARP_init
+                                     YARP::YARP_rosmsg)
+
+add_executable(rosmap_publisher)
+target_sources(rosmap_publisher PRIVATE rosmap_publisher.cpp)
+target_link_libraries(rosmap_publisher PRIVATE
+                                        YARP::YARP_os
+                                        YARP::YARP_dev
+                                        YARP::YARP_math
+                                        YARP::YARP_init
+                                        YARP::YARP_rosmsg)
+
+
+yarp_idl_to_dir(INPUT_FILES package/src/yarp_test/srv/AddTwoInts.srv
+                OUTPUT_DIR ${CMAKE_BINARY_DIR}/msg
+                SOURCES_VAR AddTwoInts_SOURCES
+                HEADERS_VAR AddTwoInts_HEADERS
+                INCLUDE_DIRS_VAR AddTwoInts_INCLUDES)
+
+add_executable(add_int_server_v1b)
+target_sources(add_int_server_v1b PRIVATE add_int_server_v1b.cpp
+                                          ${AddTwoInts_SOURCES}
+                                          ${AddTwoInts_HEADERS})
+target_include_directories(add_int_server_v1b PRIVATE ${AddTwoInts_INCLUDES})
+target_link_libraries(add_int_server_v1b PRIVATE YARP::YARP_os
+                                                 YARP::YARP_init
+                                                 YARP::YARP_rosmsg)
+
+add_executable(add_int_client_v1b)
+target_sources(add_int_client_v1b PRIVATE add_int_client_v1b.cpp
+                                          ${AddTwoInts_SOURCES}
+                                          ${AddTwoInts_HEADERS})
+target_include_directories(add_int_client_v1b PRIVATE ${AddTwoInts_INCLUDES})
+target_link_libraries(add_int_client_v1b PRIVATE YARP::YARP_os
+                                                 YARP::YARP_init
+                                                 YARP::YARP_rosmsg)

example/ros/README.txt

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+Before trying these examples, make sure you read:
+
+  http://wiki.icub.org/wiki/YARP_ROS_Interoperation
+
+There are prerequisites.

example/ros/add_int_client_v1.cpp

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+/*
+ * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
+ * SPDX-License-Identifier: BSD-3-Clause
+ */
+
+#include <yarp/os/Bottle.h>
+#include <yarp/os/LogComponent.h>
+#include <yarp/os/Network.h>
+#include <yarp/os/RpcClient.h>
+
+using yarp::os::Bottle;
+using yarp::os::Network;
+using yarp::os::RpcClient;
+
+namespace {
+YARP_LOG_COMPONENT(CLIENT_V1, "yarp.example.ros.add_int_client_v1")
+}
+
+int main(int argc, char* argv[])
+{
+    if (argc != 3) {
+        yCError(CLIENT_V1, "Call as %s X Y", argv[0]);
+        return 1;
+    }
+
+    Network yarp;
+    RpcClient client;
+    if (!client.open("/add_two_ints@/yarp_add_int_client")) {
+        yCError(CLIENT_V1, "Failed to open port");
+        return 1;
+    }
+
+    Bottle msg;
+    Bottle reply;
+    msg.addInt32(atoi(argv[1]));
+    msg.addInt32(atoi(argv[2]));
+    if (!client.write(msg, reply)) {
+        yCError(CLIENT_V1, "Failed to call service");
+        return 1;
+    }
+    yCInfo(CLIENT_V1, "Got %d", reply.get(0).asInt32());
+
+    return 0;
+}