Adding demos side of changes

Signed-off-by: CursedRock17 <[email protected]>
CursedRock17 · May 1, 2024 · 09025c1 · 09025c1
1 parent 41458c1
commit 09025c1
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Showing 5 changed files with 27 additions and 27 deletions.
diff --git a/source/Tutorials/Advanced/Simulators/Webots/Code/CMakeLists.txt b/source/Tutorials/Advanced/Simulators/Webots/Code/CMakeLists.txt
@@ -8,7 +8,7 @@ endif()
 # Besides the package specific dependencies we also need the `pluginlib` and `webots_ros2_driver`
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(std_msgs REQUIRED)
+find_package(example_interfaces REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(webots_ros2_driver REQUIRED)

diff --git a/source/Tutorials/Advanced/Simulators/Webots/Code/CMakeLists_sensor.txt b/source/Tutorials/Advanced/Simulators/Webots/Code/CMakeLists_sensor.txt
@@ -8,7 +8,7 @@ endif()
 # Besides the package specific dependencies we also need the `pluginlib` and `webots_ros2_driver`
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(std_msgs REQUIRED)
+find_package(example_interfaces REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(webots_ros2_driver REQUIRED)

diff --git a/source/Tutorials/Advanced/Simulators/Webots/Simulation-Supervisor.rst b/source/Tutorials/Advanced/Simulators/Webots/Simulation-Supervisor.rst
@@ -104,15 +104,15 @@ Remove a Webots imported node
 
 Once a node has been imported with the ``/Ros2Supervisor/spawn_node_from_string`` service, it can also be removed.
 
-This can be achieved by sending the name of the node to the topic named ``/Ros2Supervisor/remove_node`` of type ``std_msgs/msg/String``.
+This can be achieved by sending the name of the node to the topic named ``/Ros2Supervisor/remove_node`` of type ``example_interfaces/msg/String``.
 
 If the node is indeed in the imported list, it is removed with the ``remove()`` `API method <https://cyberbotics.com/doc/reference/supervisor?tab-language=python#wb_supervisor_node_remove>`_.
 
 Here is an example on how to remove the ``imported_robot`` Robot:
 
 .. code-block:: bash
 
-    ros2 topic pub --once /Ros2Supervisor/remove_node std_msgs/msg/String "{data: imported_robot}"
+    ros2 topic pub --once /Ros2Supervisor/remove_node example_interfaces/msg/String "{data: imported_robot}"
 
 Record animations
 -----------------

diff --git a/source/Tutorials/Demos/Content-Filtering-Subscription.rst b/source/Tutorials/Demos/Content-Filtering-Subscription.rst
@@ -71,7 +71,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/demo_nodes_cpp/src/topics
     #include "rclcpp/rclcpp.hpp"
     #include "rclcpp_components/register_node_macro.hpp"
 
-    #include "std_msgs/msg/float32.hpp"
+    #include "example_interfaces/msg/float32.hpp"
 
     #include "demo_nodes_cpp/visibility_control.h"
 
@@ -96,7 +96,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/demo_nodes_cpp/src/topics
         auto publish_message =
           [this]() -> void
           {
-            msg_ = std::make_unique<std_msgs::msg::Float32>();
+            msg_ = std::make_unique<example_interfaces::msg::Float32>();
             msg_->data = temperature_;
             temperature_ += TEMPERATURE_SETTING[2];
             if (temperature_ > TEMPERATURE_SETTING[1]) {
@@ -112,16 +112,16 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/demo_nodes_cpp/src/topics
         // rclcpp::KeepAll{} if the user wishes.
         // (rclcpp::KeepLast(7) -> rclcpp::KeepAll() fails to compile)
         rclcpp::QoS qos(rclcpp::KeepLast{7});
-        pub_ = this->create_publisher<std_msgs::msg::Float32>("temperature", qos);
+        pub_ = this->create_publisher<example_interfaces::msg::Float32>("temperature", qos);
 
         // Use a timer to schedule periodic message publishing.
         timer_ = this->create_wall_timer(1s, publish_message);
       }
 
     private:
       float temperature_ = TEMPERATURE_SETTING[0];
-      std::unique_ptr<std_msgs::msg::Float32> msg_;
-      rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr pub_;
+      std::unique_ptr<example_interfaces::msg::Float32> msg_;
+      rclcpp::Publisher<example_interfaces::msg::Float32>::SharedPtr pub_;
       rclcpp::TimerBase::SharedPtr timer_;
     };
 
@@ -176,7 +176,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/demo_nodes_cpp/src/topics
     #include "rclcpp_components/register_node_macro.hpp"
     #include "rcpputils/join.hpp"
 
-    #include "std_msgs/msg/float32.hpp"
+    #include "example_interfaces/msg/float32.hpp"
 
     #include "demo_nodes_cpp/visibility_control.h"
 
@@ -197,7 +197,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/demo_nodes_cpp/src/topics
         setvbuf(stdout, NULL, _IONBF, BUFSIZ);
         // Create a callback function for when messages are received.
         auto callback =
-          [this](const std_msgs::msg::Float32 & msg) -> void
+          [this](const example_interfaces::msg::Float32 & msg) -> void
           {
             if (msg.data < EMERGENCY_TEMPERATURE[0] || msg.data > EMERGENCY_TEMPERATURE[1]) {
               RCLCPP_INFO(
@@ -217,7 +217,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/demo_nodes_cpp/src/topics
           std::to_string(EMERGENCY_TEMPERATURE[1])
         };
 
-        sub_ = create_subscription<std_msgs::msg::Float32>("temperature", 10, callback, sub_options);
+        sub_ = create_subscription<example_interfaces::msg::Float32>("temperature", 10, callback, sub_options);
 
         if (!sub_->is_cft_enabled()) {
           RCLCPP_WARN(
@@ -233,7 +233,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/demo_nodes_cpp/src/topics
       }
 
     private:
-      rclcpp::Subscription<std_msgs::msg::Float32>::SharedPtr sub_;
+      rclcpp::Subscription<example_interfaces::msg::Float32>::SharedPtr sub_;
     };
 
     }  // namespace demo_nodes_cpp

diff --git a/source/Tutorials/Demos/Intra-Process-Communication.rst b/source/Tutorials/Demos/Intra-Process-Communication.rst
@@ -52,7 +52,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/tw
    #include <utility>
 
    #include "rclcpp/rclcpp.hpp"
-   #include "std_msgs/msg/int32.hpp"
+   #include "example_interfaces/msg/int32.hpp"
 
    using namespace std::chrono_literals;
 
@@ -63,7 +63,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/tw
      : Node(name, rclcpp::NodeOptions().use_intra_process_comms(true))
      {
        // Create a publisher on the output topic.
-       pub_ = this->create_publisher<std_msgs::msg::Int32>(output, 10);
+       pub_ = this->create_publisher<example_interfaces::msg::Int32>(output, 10);
        std::weak_ptr<std::remove_pointer<decltype(pub_.get())>::type> captured_pub = pub_;
        // Create a timer which publishes on the output topic at ~1Hz.
        auto callback = [captured_pub]() -> void {
@@ -72,7 +72,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/tw
              return;
            }
            static int32_t count = 0;
-           std_msgs::msg::Int32::UniquePtr msg(new std_msgs::msg::Int32());
+           example_interfaces::msg::Int32::UniquePtr msg(new example_interfaces::msg::Int32());
            msg->data = count++;
            printf(
              "Published message with value: %d, and address: 0x%" PRIXPTR "\n", msg->data,
@@ -82,7 +82,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/tw
        timer_ = this->create_wall_timer(1s, callback);
      }
 
-     rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr pub_;
+     rclcpp::Publisher<example_interfaces::msg::Int32>::SharedPtr pub_;
      rclcpp::TimerBase::SharedPtr timer_;
    };
 
@@ -93,17 +93,17 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/tw
      : Node(name, rclcpp::NodeOptions().use_intra_process_comms(true))
      {
        // Create a subscription on the input topic which prints on receipt of new messages.
-       sub_ = this->create_subscription<std_msgs::msg::Int32>(
+       sub_ = this->create_subscription<example_interfaces::msg::Int32>(
          input,
          10,
-         [](std_msgs::msg::Int32::UniquePtr msg) {
+         [](example_interfaces::msg::Int32::UniquePtr msg) {
            printf(
              " Received message with value: %d, and address: 0x%" PRIXPTR "\n", msg->data,
              reinterpret_cast<std::uintptr_t>(msg.get()));
          });
      }
 
-     rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr sub_;
+     rclcpp::Subscription<example_interfaces::msg::Int32>::SharedPtr sub_;
    };
 
    int main(int argc, char * argv[])
@@ -183,7 +183,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/cy
    #include <utility>
 
    #include "rclcpp/rclcpp.hpp"
-   #include "std_msgs/msg/int32.hpp"
+   #include "example_interfaces/msg/int32.hpp"
 
    using namespace std::chrono_literals;
 
@@ -194,13 +194,13 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/cy
      : Node(name, rclcpp::NodeOptions().use_intra_process_comms(true))
      {
        // Create a publisher on the output topic.
-       pub = this->create_publisher<std_msgs::msg::Int32>(out, 10);
+       pub = this->create_publisher<example_interfaces::msg::Int32>(out, 10);
        std::weak_ptr<std::remove_pointer<decltype(pub.get())>::type> captured_pub = pub;
        // Create a subscription on the input topic.
-       sub = this->create_subscription<std_msgs::msg::Int32>(
+       sub = this->create_subscription<example_interfaces::msg::Int32>(
          in,
          10,
-         [captured_pub](std_msgs::msg::Int32::UniquePtr msg) {
+         [captured_pub](example_interfaces::msg::Int32::UniquePtr msg) {
            auto pub_ptr = captured_pub.lock();
            if (!pub_ptr) {
              return;
@@ -221,8 +221,8 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/cy
          });
      }
 
-     rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr pub;
-     rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr sub;
+     rclcpp::Publisher<example_interfaces::msg::Int32>::SharedPtr pub;
+     rclcpp::Subscription<example_interfaces::msg::Int32>::SharedPtr sub;
    };
 
    int main(int argc, char * argv[])
@@ -237,7 +237,7 @@ https://github.com/ros2/demos/blob/{REPOS_FILE_BRANCH}/intra_process_demo/src/cy
      auto pipe2 = std::make_shared<IncrementerPipe>("pipe2", "topic2", "topic1");
      rclcpp::sleep_for(1s);  // Wait for subscriptions to be established to avoid race conditions.
      // Publish the first message (kicking off the cycle).
-     std::unique_ptr<std_msgs::msg::Int32> msg(new std_msgs::msg::Int32());
+     std::unique_ptr<example_interfaces::msg::Int32> msg(new example_interfaces::msg::Int32());
      msg->data = 42;
      printf(
        "Published first message with value:  %d, and address: 0x%" PRIXPTR "\n", msg->data,