Equivalent script "stream" function in C++ about rtt_ros_integration HOT 2 CLOSED

There are two aspects here:

1. You have to first load the typekit plugins for std_msgs, which is rtt_std_msgs. You can use rtt_ros to import all plugins provided by a ROS package and all of its plugin dependencies. These also include rtt_roscomm and rtt_rosnode, which actually makes your process a ROS node.

   #include <rtt_ros/rtt_ros.h>
   
   int ORO_main(int argc, char** argv)
   {
     rtt_ros::import("rtt_std_msgs");
     // ...implicitly imports rtt_roscomm and rtt_rosnode.
   
     // ...
   }

2. You can create a streaming connection to or from a ROS topic using RTT::base::PortInterface::createStream() and one the helpers in package rtt_roscomm:

   #include <rtt_roscomm/rtt_rostopic.h>
   
   // at some point, e.g. in ORO_main() or in the constructor of HelloRobot:
   myComponent->getPort("inport")->createStream(rtt_rostopic::topic("float_in"));
   myComponent->getPort("inport")->createStream(rtt_rostopic::topic("float_out"));
   myComponent->getPort("sinport")->createStream(rtt_rostopic::topic("string_in"));
   myComponent->getPort("soutport")->createStream(rtt_rostopic::topic("string_out"));
   
   // Should check return values of createStream() because it could fail, e.g. if the transport plugin
   // has not been loaded before.

   topicBuffer() instead of topic() creates a buffer connection which lowers the risk of missing messages if you publish too fast or do not read from the port fast enough.

from rtt_ros_integration.

Thanks @meyerj, that works!

from rtt_ros_integration.