otamachan · otamachan · Feb 11, 2026 · Feb 11, 2026
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -19,6 +19,7 @@ jobs:
         run: |
           mkdir -p ws/src
           ln -s ../../rclcpp_async ws/src/rclcpp_async
+          ln -s ../../rclcpp_async_example ws/src/rclcpp_async_example
       - name: Build and test
         run: |
           ROS_DISTRO=${{ matrix.ros_distro }} ./run.sh bash -c \

diff --git a/README.md b/README.md
@@ -1,11 +1,5 @@
 # rclcpp_async
 
-[![CI](https://github.com/otamachan/rclcpp_async/actions/workflows/ci.yml/badge.svg)](https://github.com/otamachan/rclcpp_async/actions/workflows/ci.yml)
-[![License](https://img.shields.io/badge/License-Apache%202.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
-![C++20](https://img.shields.io/badge/C%2B%2B-20-blue.svg)
-![ROS 2 Jazzy](https://img.shields.io/badge/ROS%202-Jazzy-blue.svg)
-![ROS 2 Rolling](https://img.shields.io/badge/ROS%202-Rolling-blue.svg)
-
 A header-only C++20 coroutine library that brings `async/await` to ROS 2, inspired by [icey](https://github.com/iv461/icey).
 
 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.
@@ -555,7 +549,7 @@ Task<void> run(CoContext & ctx)
 
 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.
 
-See [`example/nested_demo.cpp`](rclcpp_async/example/nested_demo.cpp) for a full demonstration.
+See [`nested_demo.cpp`](rclcpp_async_example/src/nested_demo.cpp) for a full demonstration.
 
 ## API Reference
 

diff --git a/rclcpp_async/CMakeLists.txt b/rclcpp_async/CMakeLists.txt
@@ -60,32 +60,6 @@ if(BUILD_TESTING)
   find_package(std_srvs REQUIRED)
   find_package(example_interfaces REQUIRED)
 
-  # Examples
-  add_executable(demo_server example/demo_server.cpp)
-  target_link_libraries(demo_server ${PROJECT_NAME}
-    ${std_msgs_TARGETS} ${std_srvs_TARGETS} ${example_interfaces_TARGETS})
-
-  add_executable(subscriber example/subscriber.cpp)
-  target_link_libraries(subscriber ${PROJECT_NAME} ${std_msgs_TARGETS})
-
-  add_executable(service_client example/service_client.cpp)
-  target_link_libraries(service_client ${PROJECT_NAME} ${std_srvs_TARGETS})
-
-  add_executable(action_client example/action_client.cpp)
-  target_link_libraries(action_client ${PROJECT_NAME} ${example_interfaces_TARGETS})
-
-  add_executable(nested_demo example/nested_demo.cpp)
-  target_link_libraries(nested_demo ${PROJECT_NAME}
-    ${std_srvs_TARGETS} ${example_interfaces_TARGETS})
-
-  install(TARGETS demo_server subscriber service_client action_client nested_demo
-    DESTINATION lib/${PROJECT_NAME}
-  )
-
-  install(DIRECTORY launch/
-    DESTINATION share/${PROJECT_NAME}/launch
-  )
-
   # Level 1: Pure unit tests (no ROS2 runtime)
   ament_add_gtest(test_result test/test_result.cpp)
   target_link_libraries(test_result ${PROJECT_NAME})

diff --git a/rclcpp_async/package.xml b/rclcpp_async/package.xml
@@ -22,8 +22,6 @@
   <test_depend>std_msgs</test_depend>
   <test_depend>std_srvs</test_depend>
   <test_depend>example_interfaces</test_depend>
-  <test_depend>ros2launch</test_depend>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>

diff --git a/rclcpp_async_example/CMakeLists.txt b/rclcpp_async_example/CMakeLists.txt
@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 3.14)
+project(rclcpp_async_example)
+
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 20)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror=deprecated-declarations -fcoroutines)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(rclcpp_async REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(example_interfaces REQUIRED)
+
+add_executable(demo_server src/demo_server.cpp)
+target_link_libraries(demo_server rclcpp_async::rclcpp_async
+  ${std_msgs_TARGETS} ${std_srvs_TARGETS} ${example_interfaces_TARGETS})
+
+add_executable(subscriber src/subscriber.cpp)
+target_link_libraries(subscriber rclcpp_async::rclcpp_async ${std_msgs_TARGETS})
+
+add_executable(service_client src/service_client.cpp)
+target_link_libraries(service_client rclcpp_async::rclcpp_async ${std_srvs_TARGETS})
+
+add_executable(action_client src/action_client.cpp)
+target_link_libraries(action_client rclcpp_async::rclcpp_async ${example_interfaces_TARGETS})
+
+add_executable(nested_demo src/nested_demo.cpp)
+target_link_libraries(nested_demo rclcpp_async::rclcpp_async
+  ${std_srvs_TARGETS} ${example_interfaces_TARGETS})
+
+install(TARGETS demo_server subscriber service_client action_client nested_demo
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch/
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(AMENT_LINT_AUTO_EXCLUDE ament_cmake_uncrustify ament_cmake_cppcheck)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/rclcpp_async_example/CPPLINT.cfg b/rclcpp_async_example/CPPLINT.cfg
@@ -0,0 +1 @@
+filter=-build/include_order
diff --git a/rclcpp_async/launch/action_demo.launch.py → ...sync_example/launch/action_demo.launch.py b/rclcpp_async/launch/action_demo.launch.py → ...sync_example/launch/action_demo.launch.py
@@ -19,13 +19,13 @@
 def generate_launch_description():
     return LaunchDescription([
         Node(
-            package='rclcpp_async',
+            package='rclcpp_async_example',
             executable='demo_server',
             name='demo_server',
             output='screen',
         ),
         Node(
-            package='rclcpp_async',
+            package='rclcpp_async_example',
             executable='action_client',
             name='action_client',
             output='screen',

diff --git a/rclcpp_async/launch/service_demo.launch.py → ...ync_example/launch/service_demo.launch.py b/rclcpp_async/launch/service_demo.launch.py → ...ync_example/launch/service_demo.launch.py
@@ -19,13 +19,13 @@
 def generate_launch_description():
     return LaunchDescription([
         Node(
-            package='rclcpp_async',
+            package='rclcpp_async_example',
             executable='demo_server',
             name='demo_server',
             output='screen',
         ),
         Node(
-            package='rclcpp_async',
+            package='rclcpp_async_example',
             executable='service_client',
             name='service_client',
             output='screen',

diff --git a/...pp_async/launch/subscriber_demo.launch.py → ..._example/launch/subscriber_demo.launch.py b/...pp_async/launch/subscriber_demo.launch.py → ..._example/launch/subscriber_demo.launch.py
@@ -19,13 +19,13 @@
 def generate_launch_description():
     return LaunchDescription([
         Node(
-            package='rclcpp_async',
+            package='rclcpp_async_example',
             executable='demo_server',
             name='demo_server',
             output='screen',
         ),
         Node(
-            package='rclcpp_async',
+            package='rclcpp_async_example',
             executable='subscriber',
             name='async_subscriber',
             output='screen',

diff --git a/rclcpp_async_example/package.xml b/rclcpp_async_example/package.xml
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rclcpp_async_example</name>
+  <version>0.1.0</version>
+  <description>Example programs demonstrating rclcpp_async usage</description>
+  <maintainer email="nishino@todo.todo">nishino</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>rclcpp_async</depend>
+  <depend>std_msgs</depend>
+  <depend>std_srvs</depend>
+  <depend>example_interfaces</depend>
+
+  <exec_depend>ros2launch</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_cmake_clang_tidy</test_depend>
+  <test_depend>ament_cmake_clang_format</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/rclcpp_async/example/action_client.cpp → rclcpp_async_example/src/action_client.cpp b/rclcpp_async/example/action_client.cpp → rclcpp_async_example/src/action_client.cpp
diff --git a/rclcpp_async/example/demo_server.cpp → rclcpp_async_example/src/demo_server.cpp b/rclcpp_async/example/demo_server.cpp → rclcpp_async_example/src/demo_server.cpp
diff --git a/rclcpp_async/example/nested_demo.cpp → rclcpp_async_example/src/nested_demo.cpp b/rclcpp_async/example/nested_demo.cpp → rclcpp_async_example/src/nested_demo.cpp
diff --git a/rclcpp_async/example/service_client.cpp → rclcpp_async_example/src/service_client.cpp b/rclcpp_async/example/service_client.cpp → rclcpp_async_example/src/service_client.cpp
diff --git a/rclcpp_async/example/subscriber.cpp → rclcpp_async_example/src/subscriber.cpp b/rclcpp_async/example/subscriber.cpp → rclcpp_async_example/src/subscriber.cpp