use new composition model

Karsten1987 / confbot_robot

workspace comprising demo packages for our roscon2018 talk

Apache License 2.0

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use new composition model #22

Closed Karsten1987 closed 5 years ago

Karsten1987 commented 5 years ago

This PR is a bit longer mainly because the code for confbot_driver and twist_publisher got refactored in .cpp files and shared libraries.

depends on: https://github.com/ros2/geometry2/pull/104 and https://github.com/ros2/rclcpp/pull/700 in order to properly enable composition.

Signed-off-by: Karsten Knese karsten@openrobotics.org

mikaelarguedas commented 5 years ago

Just for my understanding:

this is using the new composition API but still does manual composition
a follow up PR will be needed to compose them at runtime instead of compile time
The laser (lifecycle) node has not been made composable, is it because it is currently not supported for lifecycle nodes ? or just because we didn't want to convert all nodes to the composition model?

Is that correct?

Karsten1987 commented 5 years ago

It still demonstrates manual composition by including the according header files as before and add the nodes to the executor. What's new in this PR is that now the command line tools for runtime composition can be used:

ros2 run rclcpp_components component_container

ros2 component load /component_container confbot_driver confbot_driver::nodes::ConfbotDriver

The complete tutorial for runtime composition can be found here: https://index.ros.org/doc/ros2/Tutorials/Composition/

But the lifecycle nodes are a valid point, I haven't ported them to a component yet.

mikaelarguedas commented 5 years ago

Cool! thanks for the additional context :+1: