composable mode

CMakeLists.txt

@@ -18,11 +18,38 @@ find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
+find_package(rclcpp_components REQUIRED)
 
 include_directories(
   include/ps_ros2_common
 )
 
+# add library ---------------------------------------------------------------
+add_library(ps_ros2_common SHARED
+  src/example_joy.cpp
+)
+rclcpp_components_register_nodes(ps_ros2_common
+  "ps_ros2_common::example_joy")
+target_compile_options(ps_ros2_common PUBLIC -Wall)
+
+target_include_directories(ps_ros2_common PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
+ament_target_dependencies(ps_ros2_common
+  rclcpp
+  rclcpp_components
+  sensor_msgs
+  std_msgs
+)
+
+install(TARGETS ps_ros2_common
+  EXPORT export_${PROJECT_NAME}
+  DESTINATION lib
+)
+
+# joy_test executable -------------------------------------------------------
 add_executable(joy_test
   src/example_joy.cpp
 )
@@ -31,8 +58,10 @@ ament_target_dependencies(joy_test
   rclcpp
   sensor_msgs
   std_msgs
+  rclcpp_components
 )
 
+# testing --------------------------------------------------------------------
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   ament_lint_auto_find_test_dependencies()

launch/test_composable.launch.py

@@ -0,0 +1,31 @@
+from launch import LaunchDescription
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+
+
+def generate_launch_description():
+    """Generate launch file."""
+
+    component = ComposableNodeContainer(
+        name='joy_container',
+        namespace='',
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            ComposableNode(
+                package='ps_ros2_common',
+                plugin='ps_ros2_common::example_joy',
+                name='joy_common_comp',
+            ),
+            ComposableNode(
+                package='joy',
+                plugin='joy::Joy',
+                name='joy_node_comp',
+            ),
+        ],
+        output='screen',
+    )
+
+    return LaunchDescription([
+        component
+    ])

src/example_joy.cpp

@@ -14,6 +14,8 @@ using namespace ps4;
 using namespace ps3;
 #endif
 
+namespace ps_ros2_common {
+
 class example_joy : public rclcpp::Node, public ps
 {
 public:
@@ -69,8 +71,8 @@ class example_joy : public rclcpp::Node, public ps
     pub_int->publish(send_data);
   }
 
-  example_joy(const std::string name, const rclcpp::NodeOptions & options)
-  : Node(name, options)
+  example_joy(const rclcpp::NodeOptions & options)
+  : Node("joy_test", options)
   {
     using namespace std::chrono_literals;
     sub_joy =
@@ -81,11 +83,17 @@ class example_joy : public rclcpp::Node, public ps
   }
 };
 
+} // namespace ps_ros2_common
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(ps_ros2_common::example_joy)
+
 int main(int argc, char ** argv)
 {
+  using namespace ps_ros2_common;
   rclcpp::init(argc, argv);
   rclcpp::NodeOptions options;
-  auto node = std::make_shared<example_joy>("joy_test", options);
+  auto node = std::make_shared<example_joy>(options);
 
   rclcpp::spin(node);
   rclcpp::shutdown();