Initial commit of port of naive to ros 2

ros2/naive/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(naive)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+add_executable(naive src/node.cpp src/incrementer.cpp)
+target_include_directories(naive PUBLIC include)
+ament_target_dependencies(naive rclcpp std_msgs)
+
+install(TARGETS
+  naive
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

ros2/naive/include/naive/incrementer.hpp

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+#pragma once
+
+#include <string>
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/int64.hpp"
+
+class Incrementer {
+public:
+	Incrementer(std::shared_ptr<rclcpp::Node> node, const std::string& in_topic, const std::string& out_topic);
+private:
+	static constexpr int QUEUE_SIZE = 10;
+	std::shared_ptr<rclcpp::Node> node_;
+	std::shared_ptr<rclcpp::Publisher<std_msgs::msg::Int64>> pub_;
+	std::shared_ptr<rclcpp::Subscription<std_msgs::msg::Int64>> sub_;
+};

ros2/naive/package.xml

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+<?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>naive</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="bilal.gill@picknik.ai">bilal</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

ros2/naive/src/incrementer.cpp

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+#include "naive/incrementer.hpp"
+
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/int64.hpp"
+
+Incrementer::Incrementer(std::shared_ptr<rclcpp::Node> node, const std::string& in_topic, const std::string& out_topic)
+: node_{std::move(node)}, 
+  pub_{node_->create_publisher<std_msgs::msg::Int64>(out_topic,QUEUE_SIZE)},
+  sub_{node_->create_subscription<std_msgs::msg::Int64>(in_topic, QUEUE_SIZE, [this](const std_msgs::msg::Int64::UniquePtr msg)
+                                                                                  {
+                                                                                    std_msgs::msg::Int64 incremented;
+                                                                                    incremented.data = msg->data + 1;
+                                                                                    pub_->publish(incremented);
+                                                                                  })} {}

ros2/naive/src/node.cpp

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+#include "naive/incrementer.hpp"
+
+#include "rclcpp/rclcpp.hpp"
+
+int main(int argc, char **argv) {
+
+	rclcpp::init(argc,argv);
+
+	auto const node = std::make_shared<rclcpp::Node>("incrementer");
+
+	Incrementer incrementer{node, "/in", "/out"};
+
+	rclcpp::spin(node);
+
+	rclcpp::shutdown();
+
+	return 0;
+
+}