Switching to examples_interfaces

launch_testing/launch_testing_examples/launch_testing_examples/check_msgs_launch_test.py

@@ -14,14 +14,14 @@
 
 import unittest
 
+from example_interfaces.msg import String
 import launch
 import launch.actions
 import launch_ros.actions
 import launch_testing.actions
 import launch_testing.markers
 from launch_testing_ros import WaitForTopics
 import pytest
-from std_msgs.msg import String
 
 
 @pytest.mark.launch_test

launch_testing/launch_testing_examples/package.xml

@@ -22,7 +22,7 @@
   <exec_depend>rclpy</exec_depend>
   <exec_depend>rcl_interfaces</exec_depend>
   <exec_depend>ros2bag</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>example_interfaces</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>

rclcpp/composition/minimal_composition/CMakeLists.txt

@@ -14,7 +14,7 @@ endif()
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_components REQUIRED)
-find_package(std_msgs REQUIRED)
+find_package(example_interfaces REQUIRED)
 
 include_directories(include)
 
@@ -23,7 +23,7 @@ add_library(composition_nodes SHARED
             src/subscriber_node.cpp)
 target_compile_definitions(composition_nodes
   PRIVATE "MINIMAL_COMPOSITION_DLL")
-ament_target_dependencies(composition_nodes rclcpp rclcpp_components std_msgs)
+ament_target_dependencies(composition_nodes rclcpp rclcpp_components example_interfaces)
 
 # This package installs libraries without exporting them.
 # Export the library path to ensure that the installed libraries are available.

rclcpp/composition/minimal_composition/include/minimal_composition/publisher_node.hpp

@@ -16,7 +16,7 @@
 #define MINIMAL_COMPOSITION__PUBLISHER_NODE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
+#include "example_interfaces/msg/string.hpp"
 #include "minimal_composition/visibility.h"
 
 class PublisherNode : public rclcpp::Node
@@ -27,7 +27,7 @@ class PublisherNode : public rclcpp::Node
 private:
   void on_timer();
   size_t count_;
-  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+  rclcpp::Publisher<example_interfaces::msg::String>::SharedPtr publisher_;
   rclcpp::TimerBase::SharedPtr timer_;
 };
 

rclcpp/composition/minimal_composition/include/minimal_composition/subscriber_node.hpp

@@ -16,7 +16,7 @@
 #define MINIMAL_COMPOSITION__SUBSCRIBER_NODE_HPP_
 
 #include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
+#include "example_interfaces/msg/string.hpp"
 #include "minimal_composition/visibility.h"
 
 class SubscriberNode : public rclcpp::Node
@@ -25,7 +25,7 @@ class SubscriberNode : public rclcpp::Node
   MINIMAL_COMPOSITION_PUBLIC SubscriberNode(rclcpp::NodeOptions options);
 
 private:
-  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+  rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr subscription_;
 };
 
 #endif  // MINIMAL_COMPOSITION__SUBSCRIBER_NODE_HPP_

rclcpp/composition/minimal_composition/package.xml

@@ -20,11 +20,11 @@
 
   <build_depend>rclcpp</build_depend>
   <build_depend>rclcpp_components</build_depend>
-  <build_depend>std_msgs</build_depend>
+  <build_depend>example_interfaces</build_depend>
 
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>rclcpp_components</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>example_interfaces</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

rclcpp/composition/minimal_composition/src/publisher_node.cpp

@@ -16,21 +16,21 @@
 
 #include "minimal_composition/publisher_node.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
+#include "example_interfaces/msg/string.hpp"
 
 using namespace std::chrono_literals;
 
 PublisherNode::PublisherNode(rclcpp::NodeOptions options)
 : Node("publisher_node", options), count_(0)
 {
-  publisher_ = create_publisher<std_msgs::msg::String>("topic", 10);
+  publisher_ = create_publisher<example_interfaces::msg::String>("topic", 10);
   timer_ = create_wall_timer(
     500ms, std::bind(&PublisherNode::on_timer, this));
 }
 
 void PublisherNode::on_timer()
 {
-  auto message = std_msgs::msg::String();
+  auto message = example_interfaces::msg::String();
   message.data = "Hello, world! " + std::to_string(count_++);
   RCLCPP_INFO(this->get_logger(), "Publisher: '%s'", message.data.c_str());
   publisher_->publish(message);

rclcpp/composition/minimal_composition/src/subscriber_node.cpp

@@ -14,15 +14,15 @@
 
 #include "minimal_composition/subscriber_node.hpp"
 #include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
+#include "example_interfaces/msg/string.hpp"
 
 SubscriberNode::SubscriberNode(rclcpp::NodeOptions options)
 : Node("subscriber_node", options)
 {
-  subscription_ = create_subscription<std_msgs::msg::String>(
+  subscription_ = create_subscription<example_interfaces::msg::String>(
     "topic",
     10,
-    [this](std_msgs::msg::String::UniquePtr msg) {
+    [this](example_interfaces::msg::String::UniquePtr msg) {
       RCLCPP_INFO(this->get_logger(), "Subscriber: '%s'", msg->data.c_str());
     });
 }

rclcpp/executors/cbg_executor/CMakeLists.txt

@@ -13,23 +13,23 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(std_msgs REQUIRED)
+find_package(example_interfaces REQUIRED)
 
 add_executable(
   ping
   src/ping.cpp
   src/examples_rclcpp_cbg_executor/ping_node.cpp
 )
 target_include_directories(ping PUBLIC include)
-ament_target_dependencies(ping rclcpp std_msgs)
+ament_target_dependencies(ping rclcpp example_interfaces)
 
 add_executable(
   pong
   src/pong.cpp
   src/examples_rclcpp_cbg_executor/pong_node.cpp
 )
 target_include_directories(pong PUBLIC include)
-ament_target_dependencies(pong rclcpp std_msgs)
+ament_target_dependencies(pong rclcpp example_interfaces)
 
 add_executable(
   ping_pong
@@ -38,7 +38,7 @@ add_executable(
   src/examples_rclcpp_cbg_executor/pong_node.cpp
 )
 target_include_directories(ping_pong PUBLIC include)
-ament_target_dependencies(ping_pong rclcpp std_msgs)
+ament_target_dependencies(ping_pong rclcpp example_interfaces)
 
 install(TARGETS ping pong ping_pong
   DESTINATION lib/${PROJECT_NAME}
@@ -52,5 +52,5 @@ if(BUILD_TESTING)
   ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_export_dependencies(rclcpp std_msgs)
+ament_export_dependencies(rclcpp example_interfaces)
 ament_package()

rclcpp/executors/cbg_executor/include/examples_rclcpp_cbg_executor/ping_node.hpp

@@ -22,7 +22,7 @@
 #include <vector>
 
 #include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/int32.hpp"
+#include "example_interfaces/msg/int32.hpp"
 
 namespace examples_rclcpp_cbg_executor
 {
@@ -47,15 +47,15 @@ class PingNode : public rclcpp::Node
 
 private:
   rclcpp::TimerBase::SharedPtr ping_timer_;
-  rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr high_ping_publisher_;
-  rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr low_ping_publisher_;
+  rclcpp::Publisher<example_interfaces::msg::Int32>::SharedPtr high_ping_publisher_;
+  rclcpp::Publisher<example_interfaces::msg::Int32>::SharedPtr low_ping_publisher_;
   void send_ping();
 
-  rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr high_pong_subscription_;
-  void high_pong_received(const std_msgs::msg::Int32::ConstSharedPtr msg);
+  rclcpp::Subscription<example_interfaces::msg::Int32>::SharedPtr high_pong_subscription_;
+  void high_pong_received(const example_interfaces::msg::Int32::ConstSharedPtr msg);
 
-  rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr low_pong_subscription_;
-  void low_pong_received(const std_msgs::msg::Int32::ConstSharedPtr msg);
+  rclcpp::Subscription<example_interfaces::msg::Int32>::SharedPtr low_pong_subscription_;
+  void low_pong_received(const example_interfaces::msg::Int32::ConstSharedPtr msg);
 
   std::vector<RTTData> rtt_data_;
 };

rclcpp/executors/cbg_executor/include/examples_rclcpp_cbg_executor/pong_node.hpp

@@ -20,7 +20,7 @@
 #include <string>
 
 #include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/int32.hpp"
+#include "example_interfaces/msg/int32.hpp"
 
 namespace examples_rclcpp_cbg_executor
 {
@@ -39,13 +39,13 @@ class PongNode : public rclcpp::Node
 private:
   rclcpp::CallbackGroup::SharedPtr low_prio_callback_group_;
 
-  rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr high_ping_subscription_;
-  rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr high_pong_publisher_;
-  void high_ping_received(const std_msgs::msg::Int32::ConstSharedPtr msg);
+  rclcpp::Subscription<example_interfaces::msg::Int32>::SharedPtr high_ping_subscription_;
+  rclcpp::Publisher<example_interfaces::msg::Int32>::SharedPtr high_pong_publisher_;
+  void high_ping_received(const example_interfaces::msg::Int32::ConstSharedPtr msg);
 
-  rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr low_ping_subscription_;
-  rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr low_pong_publisher_;
-  void low_ping_received(const std_msgs::msg::Int32::ConstSharedPtr msg);
+  rclcpp::Subscription<example_interfaces::msg::Int32>::SharedPtr low_ping_subscription_;
+  rclcpp::Publisher<example_interfaces::msg::Int32>::SharedPtr low_pong_publisher_;
+  void low_ping_received(const example_interfaces::msg::Int32::ConstSharedPtr msg);
 
   static void burn_cpu_cycles(std::chrono::nanoseconds duration);
 };

rclcpp/executors/cbg_executor/package.xml

@@ -15,7 +15,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>rclcpp</depend>
-  <depend>std_msgs</depend>
+  <depend>example_interfaces</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/ping_node.cpp

@@ -28,7 +28,7 @@ PingNode::PingNode()
 : rclcpp::Node("ping_node")
 {
   using std::placeholders::_1;
-  using std_msgs::msg::Int32;
+  using example_interfaces::msg::Int32;
 
   this->declare_parameter<double>("ping_period", 0.01);
   std::chrono::nanoseconds ping_period = get_nanos_from_secs_parameter(this, "ping_period");
@@ -45,19 +45,19 @@ PingNode::PingNode()
 
 void PingNode::send_ping()
 {
-  std_msgs::msg::Int32 msg;
+  example_interfaces::msg::Int32 msg;
   msg.data = static_cast<int32_t>(rtt_data_.size());
   rtt_data_.push_back(RTTData(now()));
   high_ping_publisher_->publish(msg);
   low_ping_publisher_->publish(msg);
 }
 
-void PingNode::high_pong_received(const std_msgs::msg::Int32::ConstSharedPtr msg)
+void PingNode::high_pong_received(const example_interfaces::msg::Int32::ConstSharedPtr msg)
 {
   rtt_data_[msg->data].high_received_ = now();
 }
 
-void PingNode::low_pong_received(const std_msgs::msg::Int32::ConstSharedPtr msg)
+void PingNode::low_pong_received(const example_interfaces::msg::Int32::ConstSharedPtr msg)
 {
   rtt_data_[msg->data].low_received_ = now();
 }

rclcpp/executors/cbg_executor/src/examples_rclcpp_cbg_executor/pong_node.cpp

@@ -28,7 +28,7 @@ PongNode::PongNode()
 : rclcpp::Node("pong_node")
 {
   using std::placeholders::_1;
-  using std_msgs::msg::Int32;
+  using example_interfaces::msg::Int32;
 
   declare_parameter<double>("high_busyloop", 0.01);
   high_pong_publisher_ = this->create_publisher<Int32>("high_pong", rclcpp::SensorDataQoS());
@@ -58,14 +58,14 @@ rclcpp::CallbackGroup::SharedPtr PongNode::get_low_prio_callback_group()
   return low_prio_callback_group_;  // the second callback group created in the ctor.
 }
 
-void PongNode::high_ping_received(const std_msgs::msg::Int32::ConstSharedPtr msg)
+void PongNode::high_ping_received(const example_interfaces::msg::Int32::ConstSharedPtr msg)
 {
   std::chrono::nanoseconds busyloop = get_nanos_from_secs_parameter(this, "high_busyloop");
   burn_cpu_cycles(busyloop);
   high_pong_publisher_->publish(*msg);
 }
 
-void PongNode::low_ping_received(const std_msgs::msg::Int32::ConstSharedPtr msg)
+void PongNode::low_ping_received(const example_interfaces::msg::Int32::ConstSharedPtr msg)
 {
   std::chrono::nanoseconds busyloop = get_nanos_from_secs_parameter(this, "low_busyloop");
   burn_cpu_cycles(busyloop);

rclcpp/executors/multithreaded_executor/CMakeLists.txt

@@ -13,10 +13,10 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(std_msgs REQUIRED)
+find_package(example_interfaces REQUIRED)
 
 add_executable(multithreaded_executor multithreaded_executor.cpp)
-ament_target_dependencies(multithreaded_executor rclcpp std_msgs)
+ament_target_dependencies(multithreaded_executor rclcpp example_interfaces)
 
 install(TARGETS
   multithreaded_executor

rclcpp/executors/multithreaded_executor/multithreaded_executor.cpp

@@ -18,7 +18,7 @@
 #include <thread>
 
 #include "rclcpp/rclcpp.hpp"
-#include "std_msgs/msg/string.hpp"
+#include "example_interfaces/msg/string.hpp"
 
 using namespace std::chrono_literals;
 
@@ -42,10 +42,10 @@ class PublisherNode : public rclcpp::Node
   PublisherNode()
   : Node("PublisherNode"), count_(0)
   {
-    publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
+    publisher_ = this->create_publisher<example_interfaces::msg::String>("topic", 10);
     auto timer_callback =
       [this]() -> void {
-        auto message = std_msgs::msg::String();
+        auto message = example_interfaces::msg::String();
         message.data = "Hello World! " + std::to_string(this->count_++);
 
         // Extract current thread
@@ -62,7 +62,7 @@ class PublisherNode : public rclcpp::Node
 
 private:
   rclcpp::TimerBase::SharedPtr timer_;
-  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+  rclcpp::Publisher<example_interfaces::msg::String>::SharedPtr publisher_;
   size_t count_;
 };
 
@@ -88,7 +88,7 @@ class DualThreadedNode : public rclcpp::Node
     auto sub2_opt = rclcpp::SubscriptionOptions();
     sub2_opt.callback_group = callback_group_subscriber2_;
 
-    subscription1_ = this->create_subscription<std_msgs::msg::String>(
+    subscription1_ = this->create_subscription<example_interfaces::msg::String>(
       "topic",
       rclcpp::QoS(10),
       // std::bind is sort of C++'s way of passing a function
@@ -104,7 +104,7 @@ class DualThreadedNode : public rclcpp::Node
       sub1_opt);                  // This is where we set the callback group.
                                   // This subscription will run with callback group subscriber1
 
-    subscription2_ = this->create_subscription<std_msgs::msg::String>(
+    subscription2_ = this->create_subscription<example_interfaces::msg::String>(
       "topic",
       rclcpp::QoS(10),
       std::bind(
@@ -129,7 +129,7 @@ class DualThreadedNode : public rclcpp::Node
    * Every time the Publisher publishes something, all subscribers to the topic get poked
    * This function gets called when Subscriber1 is poked (due to the std::bind we used when defining it)
    */
-  void subscriber1_cb(const std_msgs::msg::String::ConstSharedPtr msg)
+  void subscriber1_cb(const example_interfaces::msg::String::ConstSharedPtr msg)
   {
     auto message_received_at = timing_string();
 
@@ -143,7 +143,7 @@ class DualThreadedNode : public rclcpp::Node
    * This function gets called when Subscriber2 is poked
    * Since it's running on a separate thread than Subscriber 1, it will run at (more-or-less) the same time!
    */
-  void subscriber2_cb(const std_msgs::msg::String::ConstSharedPtr msg)
+  void subscriber2_cb(const example_interfaces::msg::String::ConstSharedPtr msg)
   {
     auto message_received_at = timing_string();
 
@@ -155,8 +155,8 @@ class DualThreadedNode : public rclcpp::Node
 
   rclcpp::CallbackGroup::SharedPtr callback_group_subscriber1_;
   rclcpp::CallbackGroup::SharedPtr callback_group_subscriber2_;
-  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription1_;
-  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription2_;
+  rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr subscription1_;
+  rclcpp::Subscription<example_interfaces::msg::String>::SharedPtr subscription2_;
 };
 
 int main(int argc, char * argv[])