RxROS2 C++ Examples

This package contains the RxROS2 C++ examples.

The purpose of the examples is to:

1. demonstrate how a RxROS2 C++ package is setup and build.
2. demonstrate how a RxROS2 C++ program is composed.

The RxROS2 C++ examples contains four nodes. Two nodes demonstrate how to construct a simple talker using either a class or the create_note(..) function. The remaining two nodes demonstrate how to create a simple listener again using either a class or the create_note(..) function.

Setup and Installation

Please follow the installation instructions on the RxROS2 main page. The examples will be built as part of the main build. After having completed the colcon command you can to start the nodes as described in the next section.

Starting the RxROS2 C++ Nodes

After having built RxROS2, you may try to start any of the following RxROS2 nodes:

# RxROS2+RxCpp based nodes
ros2 run rxros2_cpp_examples talker_new_style
ros2 run rxros2_cpp_examples talker_old_style

The talker nodes can be combined with any of the listener nodes:

# RxROS2+RxCpp based nodes
ros2 run rxros2_cpp_examples listener_new_style
ros2 run rxros2_cpp_examples listener_old_style

any combination of talker and listener should work.