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fujitatomoyafujitatomoya
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self-containeed simple reproducible test.
 ros2/rmw_fastrtps#789 Signed-off-by: Tomoya Fujita <[email protected]>
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-3
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4 files changed

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‎rclcpp/topics/minimal_publisher/lambda.cpp

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Original file line numberDiff line numberDiff line change
@@ -36,10 +36,9 @@ class MinimalPublisher : public rclcpp::Node
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[this]() -> void {
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auto message = std_msgs::msg::String();
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message.data = "Hello, world! " + std::to_string(this->count_++);
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RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
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this->publisher_->publish(message);
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};
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timer_ = this->create_wall_timer(500ms, timer_callback);
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timer_ = this->create_wall_timer(25ms, timer_callback);
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}
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private:

‎rclcpp/topics/minimal_subscriber/CMakeLists.txt

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@@ -55,6 +55,11 @@ rclcpp_components_register_node(wait_set_subscriber_library
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PLUGIN "TimeTriggeredWaitSetSubscriber"
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EXECUTABLE time_triggered_wait_set_subscriber)
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install(DIRECTORY
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launch
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DESTINATION share/${PROJECT_NAME}
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)
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install(TARGETS
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wait_set_subscriber_library
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ARCHIVE DESTINATION lib

‎rclcpp/topics/minimal_subscriber/lambda.cpp

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@@ -17,6 +17,9 @@
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#include "rclcpp/rclcpp.hpp"
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#include "std_msgs/msg/string.hpp"
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#include <chrono>
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#include <ctime>
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class MinimalSubscriber : public rclcpp::Node
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{
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public:
@@ -25,7 +28,10 @@ class MinimalSubscriber : public rclcpp::Node
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{
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auto topic_callback =
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[this](std_msgs::msg::String::UniquePtr msg) -> void {
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RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
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auto now = std::chrono::system_clock::now();
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std::time_t time =std::chrono::system_clock::to_time_t(now);
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RCLCPP_INFO_STREAM_ONCE(this->get_logger(), std::ctime(&time));
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RCLCPP_INFO_ONCE(this->get_logger(), "I heard: '%s'", msg->data.c_str());
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};
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subscription_ =
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this->create_subscription<std_msgs::msg::String>("topic", 10, topic_callback);

‎rclcpp/topics/minimal_subscriber/launch/test.launch.xml

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@@ -0,0 +1,64 @@
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<launch>
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<node name="minimum_pub_1" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_2" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_3" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_4" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_5" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_6" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_7" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_8" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_9" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_10" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_11" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_12" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_13" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_14" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_15" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_16" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_17" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_18" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_19" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_20" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_21" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_22" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_23" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_24" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_25" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_26" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_27" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_28" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_29" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_pub_30" pkg="examples_rclcpp_minimal_publisher" exec="publisher_lambda" output="screen"/>
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<node name="minimum_sub_1" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_2" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_3" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_4" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_5" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_6" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_7" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_8" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_9" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_10" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_11" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_12" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_13" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_14" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_15" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_16" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_17" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_18" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_19" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_20" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_20" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_21" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_22" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_23" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_24" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_25" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_26" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_27" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_28" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_29" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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<node name="minimum_sub_30" pkg="examples_rclcpp_minimal_subscriber" exec="subscriber_lambda" output="screen"/>
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</launch>

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