#include <rclcpp/rclcpp.hpp>
namespace my_pkg
{
class MyComponent : public rclcpp::Node
{
public:
MyComponent(const rclcpp::NodeOptions& options)
: rclcpp::Node("node_name", options)
{
// Note: you cannot use shared_from_this()
// here because the node is not fully
// initialized.
}
};
} // namespace my_pkg
#include "rclcpp_components/register_node_macro.hpp"
RCLCPP_COMPONENTS_REGISTER_NODE(my_pkg::MyComponent)
The in the CMakeLists.txt:
add_library(my_component SHARED
src/my_component.cpp
)
ament_target_dependencies(my_component
rclcpp
rclcpp_components
)
# Also add a node executable which simply loads the component
rclcpp_components_register_node(my_component
PLUGIN "my_pkg::MyComponent"
EXECUTABLE my_node
)
To run an executor in a thread:
#include <thread>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/executors/single_threaded_executor.hpp>
rclcpp::executors::SingleThreadedExecutor executor;
// Node is rclcpp::Node::SharedPtr instance
executor.add_node(node);
std::thread executor_thread(
std::bind(&rclcpp::executors::SingleThreadedExecutor::spin,
&executor));