This package allows a user to create multiple instances of publisher and subscriber within one node. The API supports instances of different message types defined in an IDL file.

1. Add your own idl file in the idl folder.

2. Generate the codes:

   $ ./gencode

This script will auto:

• Generate the DDS codes for the idl files you have created.
• Generate boilerplates specific to the message type so you can use the API.
• Generate a CMakeLists.txt for the boilerplates. This must be included in the main CMakeLists.txt so you can use it in the API. See No.3 .

3. Add the generated codes and boilerplates in the main CMakeLists.txt:

    include(lib/boilerplate/Template/CMakeLists.txt)
    include(lib/boilerplate/Sensors/CMakeLists.txt)
    include(lib/boilerplate/<IDL_NAME>/CMakeLists.txt)
   
    add_executable(main
        src/main.cpp
        ${BOILERPLATE_SOURCE}
        ${SOURCE_Template}
        ${SOURCE_Sensors}
        ${SOURCE_<IDLNAME>}
    )
   

1. Include your new message type's header files:

    #include "TemplateBoilerplate.h"
   

2. Create participant:

    DDSBoilerplate * participant;
    participant = new DDSBoilerplate(DOMAIN_ID);
   

3. Creating a Publisher:

    TemplateMsg::Publisher pub1(participant, "Example Template1");
   

TemplateMsg can be any message based on the idl file you have created.

4. Publish:

    pub1.instance->value = 1;
    pub1.publish(); 
   

5. Creating a Subscriber:

    TemplateMsg::Subscriber sub1(participant, "Example Template3");
   

TemplateMsg can be any message based on the idl file you have created.

6. Subscribing and receiving data:

   for (int i = 0; i < sub1.get_data_seq().length(); ++i) {
        if (sub1.get_info_seq()[i].valid_data) {
            float sensor_val = sub1.get_data_seq()[i].value;
            printf("Value3: %f\n", sensor_val);
        }
    }