clalancette
commented
1 week ago Please open questions like this on https://robotics.stackexchange.com/questions/tagged/ros, which is our central Question and Answer site. You'll get a better answer there, and it will be searchable for the future.
Make sure to include a lot of information on what platform you are using, which ROS distribution you are using, and the exact steps you took.
The test code in windows is as follows:
`#include "rclcpp/rclcpp.hpp"
include "std_msgs/msg/string.hpp"
class NodeA : public rclcpp::Node { public: NodeA() : Node("nodea") { publisher = this->create_publisher("topicb", 10);
timer = this->create_wall_timer(
std::chrono::milliseconds(500),
std::bind(&NodeA::publish_message, this));
}
private: void publish_message() { auto message = std_msgs::msg::String(); message.data = "Hello from Node A"; RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.cstr()); publisher->publish(message); }
};
class NodeB : public rclcpp::Node { public: NodeB() : Node("nodeb") { subscription = this->create_subscription(
"topic_b", 10, std::bind(&NodeB::callback, this, std::placeholders::_1));
}
private: void callback(const std_msgs::msg::String::SharedPtr msg) { RCLCPP_INFO(this->get_logger(), "Received: '%s'", msg->data.c_str()); }
};
int main(int argc, char* argv[]) { rclcpp::init(argc, argv); rclcpp::executors::MultiThreadedExecutor executor; auto node_a = std::make_shared();
auto node_b = std::make_shared();
executor.add_node(node_a);
executor.add_node(nodeb);
executor.spin();
rclcpp::shutdown();
return 0;
}`
There is no error in Debug, and the following error in Release:
Error content
Unhandled exception at 0x00007FF95C0CFABC (located in ros2Demo.exe) : Microsoft C++ exception: RCLCPP: : exceptions: : RCLInvalidArgument, located in the memory location 0 x00000014a45ee250._Please help me. What's wrong with me? How should the code be modified? Thank you for your help