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Since boost is no longer used in ROS 2 , what will be the preferred method for binding C++ code with python ? In ROS 1, we were using boost/python.hpp, what is the suitable option in ROS 2.0 ?

I was reading this tutorial where they have created a service based server/client for adding two integers.However, they have not created the .srv files as required in ROS 1. Is it possible to mention the service type without creating the .srv files ?

I want to create a pub-sub using sensor_msgs in ros 2? Is there tutorial showing how to do this ?

What would be the general package.xml strucutre in order to compile a package for both ROS1(catkin) and ROS2(ament) ? It would be very helpful if gives an example for doing this.

Hi,

When using the rclcpp::Node::create_wall_timer function with std::bind , I am getting the following error

no matching function for call to ‘composition::Talker::create_wall_timer(std::chrono::seconds, std::_Bind_helper<false, void="" (composition::talker::*)(int),="" composition::talker*,="" int="">::type)’

The error can be reproducer if one changes std::bind function inside the create_wall_timer () to add extra arguments to the function pointer.

I am attaching the code for your kind reference.

#include "composition/talker_component.hpp"
#include <chrono>
#include <iostream>
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

using namespace std::chrono_literals;

namespace composition
{

Talker::Talker()
: Node("talker"), count_(0)
{
  // Create a publisher of "std_mgs/String" messages on the "chatter" topic.
  pubbase_= this->create_publisher<std_msgs::msg::String>("chatter");

  pub_ = create_publisher<std_msgs::msg::String>("chatter");
  timer_ = create_wall_timer(1s, std::bind(&Talker::on_timer, this,95));

}

void Talker::on_timer(int level)
{
  auto msg = std::make_shared<std_msgs::msg::String>();

  msg->data = "Hello World: " + std::to_string(++count_);

  // Put the message into a queue to be processed by the middleware.

  // This call is non-blocking.
  pub_->publish(msg);
}

I was going trough the composition packages in ROS 2 which I found to be similar to the ros nodelets concepts.In ROS 1 we use launch files to start a particular nodelet.Will there be similar concept for future ROS 2 releases? Or should we create a seperate executable like the manual_composition.cpp file for every components we have created in ROS 2 ??

Thanks for your help.

Hello All,

Suppose I am using a Composed node as mentioned in this example(https://github.com/ros2/demos/blob/master/composition/src/talker_component.cpp). Now I need to pass a rclcpp::Node::SharedPtr of this composed Node to another class. In case of ROS 1 nodeletes, this can be done using getNodeHandle(). Is there any similar way of doing this in ROS 2 ?

Hi,

Using std::bind with rclcpp::Node::create_subscription() throws compilation errors.

For example, I cannot use

sub_input_ = node->create_subscription<sensor_msgs::msg::Imu>("input",
  std::bind(
      &input_surface_indices_callback,
      this, <argument1>,<argument2>));

However using lamdas as a callback function is ok in this case. Any help/information on this is welcome.

rviz2 visualization issue with MarkerArray messages I am unable to visualise visualization_msg::msg::MarkerArray msgs ,