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Split examples and launch files into rclcpp_async_example package (#21)
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‎.github/workflows/ci.yml‎

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run: |
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mkdir -p ws/src
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ln -s ../../rclcpp_async ws/src/rclcpp_async
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ln -s ../../rclcpp_async_example ws/src/rclcpp_async_example
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- name: Build and test
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run: |
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ROS_DISTRO=${{ matrix.ros_distro }} ./run.sh bash -c \

‎README.md‎

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# rclcpp_async
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[![CI](https://github.com/otamachan/rclcpp_async/actions/workflows/ci.yml/badge.svg)](https://github.com/otamachan/rclcpp_async/actions/workflows/ci.yml)
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[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
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![C++20](https://img.shields.io/badge/C%2B%2B-20-blue.svg)
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![ROS 2 Jazzy](https://img.shields.io/badge/ROS%202-Jazzy-blue.svg)
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![ROS 2 Rolling](https://img.shields.io/badge/ROS%202-Rolling-blue.svg)
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A header-only C++20 coroutine library that brings `async/await` to ROS 2, inspired by [icey](https://github.com/iv461/icey).
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Write asynchronous ROS 2 code that reads like sequential code -- no callback nesting, no deadlocks, no `std::mutex`, no state machines -- all on a single-threaded executor.
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A key advantage of coroutine-based I/O: nested service calls work without deadlocks, even on a single-threaded executor. For example, a service handler can `co_await` another service call, which can itself call yet another service -- all on the same thread.
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See [`example/nested_demo.cpp`](rclcpp_async/example/nested_demo.cpp) for a full demonstration.
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See [`nested_demo.cpp`](rclcpp_async_example/src/nested_demo.cpp) for a full demonstration.
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## API Reference
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‎rclcpp_async/CMakeLists.txt‎

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find_package(std_srvs REQUIRED)
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find_package(example_interfaces REQUIRED)
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# Examples
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add_executable(demo_server example/demo_server.cpp)
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target_link_libraries(demo_server ${PROJECT_NAME}
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${std_msgs_TARGETS} ${std_srvs_TARGETS} ${example_interfaces_TARGETS})
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add_executable(subscriber example/subscriber.cpp)
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target_link_libraries(subscriber ${PROJECT_NAME} ${std_msgs_TARGETS})
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add_executable(service_client example/service_client.cpp)
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target_link_libraries(service_client ${PROJECT_NAME} ${std_srvs_TARGETS})
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add_executable(action_client example/action_client.cpp)
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target_link_libraries(action_client ${PROJECT_NAME} ${example_interfaces_TARGETS})
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add_executable(nested_demo example/nested_demo.cpp)
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target_link_libraries(nested_demo ${PROJECT_NAME}
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${std_srvs_TARGETS} ${example_interfaces_TARGETS})
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install(TARGETS demo_server subscriber service_client action_client nested_demo
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY launch/
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DESTINATION share/${PROJECT_NAME}/launch
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)
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# Level 1: Pure unit tests (no ROS2 runtime)
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ament_add_gtest(test_result test/test_result.cpp)
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target_link_libraries(test_result ${PROJECT_NAME})

‎rclcpp_async/package.xml‎

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<test_depend>std_msgs</test_depend>
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<test_depend>std_srvs</test_depend>
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<test_depend>example_interfaces</test_depend>
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<test_depend>ros2launch</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>

‎rclcpp_async_example/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.14)
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project(rclcpp_async_example)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 20)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic -Werror=deprecated-declarations -fcoroutines)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(rclcpp_async REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(example_interfaces REQUIRED)
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add_executable(demo_server src/demo_server.cpp)
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target_link_libraries(demo_server rclcpp_async::rclcpp_async
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${std_msgs_TARGETS} ${std_srvs_TARGETS} ${example_interfaces_TARGETS})
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add_executable(subscriber src/subscriber.cpp)
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target_link_libraries(subscriber rclcpp_async::rclcpp_async ${std_msgs_TARGETS})
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add_executable(service_client src/service_client.cpp)
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target_link_libraries(service_client rclcpp_async::rclcpp_async ${std_srvs_TARGETS})
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add_executable(action_client src/action_client.cpp)
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target_link_libraries(action_client rclcpp_async::rclcpp_async ${example_interfaces_TARGETS})
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add_executable(nested_demo src/nested_demo.cpp)
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target_link_libraries(nested_demo rclcpp_async::rclcpp_async
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${std_srvs_TARGETS} ${example_interfaces_TARGETS})
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install(TARGETS demo_server subscriber service_client action_client nested_demo
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY launch/
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DESTINATION share/${PROJECT_NAME}/launch
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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set(AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify ament_cmake_cppcheck)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()

‎rclcpp_async_example/CPPLINT.cfg‎

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filter=-build/include_order

rclcpp_async/launch/action_demo.launch.py renamed to rclcpp_async_example/launch/action_demo.launch.py

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def generate_launch_description():
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return LaunchDescription([
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Node(
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package='rclcpp_async',
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package='rclcpp_async_example',
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executable='demo_server',
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name='demo_server',
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output='screen',
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),
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Node(
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package='rclcpp_async',
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package='rclcpp_async_example',
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executable='action_client',
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name='action_client',
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output='screen',

rclcpp_async/launch/service_demo.launch.py renamed to rclcpp_async_example/launch/service_demo.launch.py

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def generate_launch_description():
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return LaunchDescription([
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Node(
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package='rclcpp_async',
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package='rclcpp_async_example',
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executable='demo_server',
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name='demo_server',
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output='screen',
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),
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Node(
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package='rclcpp_async',
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package='rclcpp_async_example',
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executable='service_client',
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name='service_client',
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output='screen',

rclcpp_async/launch/subscriber_demo.launch.py renamed to rclcpp_async_example/launch/subscriber_demo.launch.py

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def generate_launch_description():
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return LaunchDescription([
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Node(
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package='rclcpp_async',
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package='rclcpp_async_example',
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executable='demo_server',
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name='demo_server',
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output='screen',
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),
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Node(
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package='rclcpp_async',
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package='rclcpp_async_example',
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executable='subscriber',
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name='async_subscriber',
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output='screen',

‎rclcpp_async_example/package.xml‎

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>rclcpp_async_example</name>
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<version>0.1.0</version>
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<description>Example programs demonstrating rclcpp_async usage</description>
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<maintainer email="nishino@todo.todo">nishino</maintainer>
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<license>Apache-2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_action</depend>
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<depend>rclcpp_async</depend>
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<depend>std_msgs</depend>
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<depend>std_srvs</depend>
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<depend>example_interfaces</depend>
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<exec_depend>ros2launch</exec_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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<test_depend>ament_cmake_clang_tidy</test_depend>
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<test_depend>ament_cmake_clang_format</test_depend>
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<export>
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<build_type>ament_cmake</build_type>
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</export>
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</package>

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