ROS2: Add base class for Node in gazebo plugins

gazebo_ros/CMakeLists.txt

@@ -0,0 +1,50 @@
+cmake_minimum_required(VERSION 3.5)
+project(gazebo_ros)
+
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # we dont use add_compile_options with pedantic in message packages
+  # because the Python C extensions dont comply with it
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(gazebo_dev REQUIRED)
+
+include_directories(include)
+
+add_library(gazebo_ros_node SHARED src/node.cpp src/executor.cpp)
+ament_target_dependencies(gazebo_ros_node "rclcpp" "gazebo_dev")
+
+ament_export_include_directories(include)
+ament_export_libraries(gazebo_ros_node)
+ament_export_dependencies(rclcpp)
+ament_export_dependencies(gazebo_dev)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(std_msgs REQUIRED)
+  add_library(gazebo_ros_plugin_example SHARED test/gazebo_ros_plugin_example.cpp)
+  target_link_libraries(gazebo_ros_plugin_example gazebo_ros_node)
+  ament_target_dependencies(gazebo_ros_plugin_example "rclcpp" "gazebo_dev" "std_msgs")
+  ament_add_gtest(test_gazebo_ros_plugin_example test/test_gazebo_ros_plugin_example.cpp WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
+  ament_target_dependencies(test_gazebo_ros_plugin_example "rclcpp" "std_msgs")
+endif()
+
+ament_package()
+
+install(DIRECTORY include/
+        DESTINATION include)
+
+install(TARGETS gazebo_ros_node
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+

gazebo_ros/include/gazebo_ros/executor.hpp

@@ -0,0 +1,51 @@
+// Copyright 2018 Open Source Robotics Foundation, 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.
+
+#ifndef GAZEBO_ROS__EXECUTOR_HPP_
+#define GAZEBO_ROS__EXECUTOR_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+#include <gazebo/common/common.hh>
+
+namespace gazebo_ros
+{
+
+/// Executor run in a separate thread to handle events from all #gazebo_ros::Node instances
+/**
+ * \class Executor executor.hpp <gazebo_ros/executor.hpp>
+ */
+class Executor : public rclcpp::executors::MultiThreadedExecutor
+{
+public:
+  /// Create an instance and start the internal thread
+  Executor();
+
+  /// Stops the internal executor and joins with the internal thread
+  virtual ~Executor();
+
+private:
+  /// Thread where the executor spins until destruction
+  std::thread spin_thread_;
+
+  /// Spin executor, called in #spin_thread_
+  void run();
+
+  /// Shutdown ROS, called when gazebo sigint handle arrives so ROS is shutdown cleanly
+  void shutdown();
+
+  /// Connection to gazebo sigint event
+  gazebo::event::ConnectionPtr sigint_handle_;
+};
+}  // namespace gazebo_ros
+#endif  // GAZEBO_ROS__EXECUTOR_HPP_