Rename minimal_subscriber waitset example

Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
ros2 · Jun 25, 2021 · f66bb18 · f66bb18
1 parent ed0f604
commit f66bb18
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/rclcpp/minimal_subscriber/CMakeLists.txt b/rclcpp/minimal_subscriber/CMakeLists.txt
@@ -23,14 +23,14 @@ ament_target_dependencies(subscriber_member_function rclcpp std_msgs)
 add_executable(subscriber_not_composable not_composable.cpp)
 ament_target_dependencies(subscriber_not_composable rclcpp std_msgs)
 
-add_executable(waitset waitset.cpp)
-ament_target_dependencies(waitset rclcpp std_msgs)
+add_executable(subscriber_waitset subscriber_waitset.cpp)
+ament_target_dependencies(subscriber_waitset rclcpp std_msgs)
 
 install(TARGETS
   subscriber_lambda
   subscriber_member_function
   subscriber_not_composable
-  waitset
+  subscriber_waitset
   DESTINATION lib/${PROJECT_NAME})
 
 ament_package()
diff --git a/rclcpp/minimal_subscriber/waitset.cpp → ...minimal_subscriber/subscriber_waitset.cpp b/rclcpp/minimal_subscriber/waitset.cpp → ...minimal_subscriber/subscriber_waitset.cpp
@@ -42,7 +42,7 @@ class MinimalSubscriber : public rclcpp::Node
     rclcpp::WaitSet wait_set;
     wait_set.add_subscription(subscription_);
     while (rclcpp::ok()) {
-      const auto wait_result = wait_set.wait();
+      const auto wait_result = wait_set.wait(std::chrono::seconds(1));
       if (wait_result.kind() == rclcpp::WaitResultKind::Ready) {
         if (wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0U]) {
           std_msgs::msg::String msg;
@@ -65,12 +65,13 @@ int main(int argc, char * argv[])
   rclcpp::init(argc, argv);
   auto node = std::make_shared<MinimalSubscriber>();
 
+
   // Option 1: loop in main
   auto sub = node->get_subscription();
   rclcpp::WaitSet wait_set;
   wait_set.add_subscription(sub);
   while (rclcpp::ok()) {
-    const auto wait_result = wait_set.wait();
+    const auto wait_result = wait_set.wait(std::chrono::seconds(1));
     if (wait_result.kind() == rclcpp::WaitResultKind::Ready) {
       if (wait_result.get_wait_set().get_rcl_wait_set().subscriptions[0U]) {
         std_msgs::msg::String msg;
@@ -86,7 +87,6 @@ int main(int argc, char * argv[])
   // Option 2: run node
   // node->run();
 
-  // rclcpp::spin();
   rclcpp::shutdown();
   return 0;
 }