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roscpp14: ROS meets C++14!!

You can use c++14 if you use roscpp14.

Use lambda for callback function

Topic Subscriber

#include <roscpp14/ros.h>
#include <std_msgs/String.h>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "listener");
  roscpp14::NodeHandle node;
  auto sub = node.subscribe<std_msgs::String>("chatter", 10,
                                              [] (const auto &msg) {
                                                ROS_INFO("%s", msg.data.c_str()); });
  ros::spin();
  return 0;
}

Service Server

#include <roscpp14/ros.h>
#include <std_srvs/Empty.h>

int main(int argc, char **argv) 
{
  ros::init(argc, argv, "service_server");
  roscpp14::NodeHandle node;
  auto ser = node.advertiseService<std_srvs::Empty>("call_me",
                                                    [&] (auto &req, auto &res) {
                                                      ROS_INFO("called!");
                                                      return true;
                                                    });
  ros::spin();
  return 0;
}

Use user-defined literal for ros::Rate

When you create a timer for 10.0[Hz], you'll write as below in roscpp.

ros::Rate r(10.0);
r.sleep();

You can use 10.0_Hz like below with roscpp14 now!

using roscpp14::operator"" _Hz;

auto r = 10.0_Hz;
r.sleep();

C++11

If you can't use c++14 (Ubuntu14.04 default), you can write like below. (I don't like repeating the type of message in lambda, so I chose c++14 for generic lambda)

  auto sub = node.subscribe<std_msgs::String>("chatter", 10,
                                              [] (const std_msgs::String &msg) {
                                                ROS_INFO("%s", msg.data.c_str()); });

Install

Supported Platforms

  • ROS
    • Jade
  • OS
    • OSX (10.10.x)
    • Ubuntu15.04
    • Ubuntu14.04 (with g++-4.9)

How to install

cd ~/catkin_ws/src
git clone https://github.com/OTL/roscpp14.git

Ubuntu14.04

roscpp14 uses c++14. This means it requires g++-4.9, which can not be installed by default. Please install g++-4.9 using ppa, like below.

sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install g++-4.9

How to use

Just add roscpp14 as dependency.