create simple_int_subscriber pkg

Signed-off-by: Autumn60 <[email protected]>

src/sample/simple_int_subscriber/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(simple_int_subscriber)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+ament_auto_add_library(simple_int_subscriber SHARED
+  src/simple_int_subscriber.cpp
+)
+
+rclcpp_components_register_node(simple_int_subscriber
+  PLUGIN "simple_int_subscriber::SimpleIntSubscriber"
+  EXECUTABLE simple_int_subscriber_node
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+)

src/sample/simple_int_subscriber/include/simple_int_subscriber/simple_int_subscriber.hpp

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+#ifndef SIMPLE_INT_SUBSCRIBER__SIMPLE_INT_SUBSCRIBER_HPP_
+#define SIMPLE_INT_SUBSCRIBER__SIMPLE_INT_SUBSCRIBER_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <std_msgs/msg/int32.hpp>
+
+namespace simple_int_subscriber
+{
+
+using Int32 = std_msgs::msg::Int32;
+
+using Int32Subscription = rclcpp::Subscription<Int32>;
+
+class SimpleIntSubscriber : public rclcpp::Node
+{
+public:
+  explicit SimpleIntSubscriber(const rclcpp::NodeOptions & options);
+
+private:
+  void callback(const Int32::SharedPtr msg);
+
+  Int32Subscription::SharedPtr sub_;
+};
+
+}  // namespace simple_int_subscriber
+
+#endif  // SIMPLE_INT_SUBSCRIBER__SIMPLE_INT_SUBSCRIBER_HPP_

src/sample/simple_int_subscriber/launch/simple_int_subscriber.launch.xml

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+<launch>
+  <arg name="topic" default="/sample/int"/>
+
+  <node pkg="simple_int_subscriber" name="simple_int_subscriber" exec="simple_int_subscriber_node" output="screen">
+    <remap from="~/input/int" to="$(var topic)"/>
+  </node>
+</launch>

src/sample/simple_int_subscriber/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>simple_int_subscriber</name>
+  <version>0.0.0</version>
+  <description>The simple_int_subscriber package</description>
+  <maintainer email="[email protected]">Akiro Harada</maintainer>
+
+  <license>Apache 2</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>std_msgs</depend>
+  <test_depend>ament_lint_auto</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/sample/simple_int_subscriber/src/simple_int_subscriber.cpp

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+#include "simple_int_subscriber/simple_int_subscriber.hpp"
+
+namespace simple_int_subscriber
+{
+
+SimpleIntSubscriber::SimpleIntSubscriber(const rclcpp::NodeOptions & options)
+: Node("simple_int_subscriber", options)
+{
+  // Declare Subscribers
+  {
+    sub_ = this->create_subscription<Int32>(
+      "~/input/int", 1, [this](const Int32::SharedPtr msg) { this->callback(msg); });
+  }
+}
+
+void SimpleIntSubscriber::callback(const Int32::SharedPtr msg)
+{
+  std::cout << "Received: '" << msg->data << "'" << std::endl;
+}
+
+}  // namespace simple_int_subscriber
+
+#include "rclcpp_components/register_node_macro.hpp"
+RCLCPP_COMPONENTS_REGISTER_NODE(simple_int_subscriber::SimpleIntSubscriber)