Merge branch 'main' into refactor/pointcloud_preprocessor-namespace-p…

…refix

common/autoware_universe_utils/examples/example_polling_subscriber.cpp

@@ -0,0 +1,87 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "autoware/universe_utils/ros/polling_subscriber.hpp"
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <std_msgs/msg/string.hpp>
+
+// PublisherNode class definition
+class PublisherNode : public rclcpp::Node
+{
+public:
+  PublisherNode() : Node("publisher_node")
+  {
+    publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
+    timer_ = this->create_wall_timer(
+      std::chrono::milliseconds(100), std::bind(&PublisherNode::publish_message, this));
+  }
+
+private:
+  void publish_message()
+  {
+    auto message = std_msgs::msg::String();
+    message.data = "Hello from publisher node";
+    publisher_->publish(message);
+  }
+
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+  rclcpp::TimerBase::SharedPtr timer_;
+};
+
+// SubscriberNode class definition
+class SubscriberNode : public rclcpp::Node
+{
+public:
+  SubscriberNode() : Node("subscriber_node")
+  {
+    subscription_ = autoware::universe_utils::InterProcessPollingSubscriber<
+      std_msgs::msg::String>::create_subscription(this, "topic");
+
+    timer_ = this->create_wall_timer(
+      std::chrono::milliseconds(500), std::bind(&SubscriberNode::timer_callback, this));
+  }
+
+private:
+  void timer_callback() const
+  {
+    auto msg = subscription_->takeData();
+    if (msg) {
+      RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
+    }
+  }
+
+  autoware::universe_utils::InterProcessPollingSubscriber<std_msgs::msg::String>::SharedPtr
+    subscription_;
+
+  rclcpp::TimerBase::SharedPtr timer_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+
+  auto publisher_node = std::make_shared<PublisherNode>();
+  auto subscriber_node = std::make_shared<SubscriberNode>();
+
+  rclcpp::executors::MultiThreadedExecutor executor;
+  executor.add_node(publisher_node);
+  executor.add_node(subscriber_node);
+
+  executor.spin();
+
+  rclcpp::shutdown();
+  return 0;
+}