Created skeleton for landmarkserver

Author: philliab13

mission/Landmark_server/test.cpp

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+cmake_minimum_required(VERSION 3.8)
+project(landmark_server)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(landmark_server_Node src/landmark_server.cpp)
+add_executable(landmark_server_Node_sub src/landmark_server_sub.cpp)
+ament_target_dependencies(landmark_server_Node rclcpp std_msgs)
+ament_target_dependencies(landmark_server_Node_sub rclcpp std_msgs)
+
+install(TARGETS
+  landmark_server_Node
+  landmark_server_Node_sub
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

mission/landmark_server/CMakeLists.txt

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>landmark_server</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">philliab</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

mission/landmark_server/package.xml

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+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+using namespace std::chrono_literals;
+
+/* This example creates a subclass of Node and uses std::bind() to register a
+* member function as a callback from the timer. */
+
+class MinimalPublisher : public rclcpp::Node
+{
+  public:
+    MinimalPublisher()
+    : Node("minimal_publisher"), count_(0)
+    {
+      publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
+      timer_ = this->create_wall_timer(
+      500ms, std::bind(&MinimalPublisher::timer_callback, this));
+    }
+
+  private:
+    void timer_callback()
+    {
+      auto message = std_msgs::msg::String();
+      message.data = "Hello, world! " + std::to_string(count_++);
+      RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
+      publisher_->publish(message);
+    }
+    rclcpp::TimerBase::SharedPtr timer_;
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+    size_t count_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalPublisher>());
+  rclcpp::shutdown();
+  return 0;
+}

mission/landmark_server/src/landmark_server.cpp

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+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+#include <vortex_msgs/msg/landmark_array.hpp>
+using std::placeholders::_1;
+
+using vortex_msgs::msg::LandmarkArray;
+using vortex_msgs::msg::Landmark;
+
+class LandmarkArraySubscriber : public rclcpp::Node
+{
+  public:
+    LandmarkArraySubscriber()
+    : rclcpp::Node("landmark_array_subscriber")
+    {
+      storedLandmarks_=std::make_shared<LandmarkArray>();
+
+
+      sub_ = this->create_subscription<LandmarkArray>(
+      "/landmarks", rclcpp::QoS(10), std::bind(&LandmarkArraySubscriber::callback, this, _1));
+    }
+
+  private:
+   void callback(const LandmarkArray::SharedPtr msg) {
+    RCLCPP_INFO(get_logger(), "frame='%s'  count=%zu",
+                msg->header.frame_id.c_str(), msg->landmarks.size());
+
+    if (!msg->landmarks.empty()) {
+      // NOTE: adjust this depending on your actual Landmark.msg:
+      // If Landmark has .odom.pose.pose.position:
+      const auto &p = msg->landmarks.front().odom.pose.pose.position;
+      // If Landmark has .pose.pose.position instead, use that line instead.
+
+      RCLCPP_INFO(get_logger(), "first landmark pos = (%.2f, %.2f, %.2f)",
+                  p.x, p.y, p.z);
+    }
+  }
+
+  rclcpp::Subscription<LandmarkArray>::SharedPtr sub_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<LandMarkArraySubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}