oxidros-wrapper 0.5.0

Ergonomic ROS2 API implementing oxidros-core traits for RCL backend
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use std::time::Duration;

use oxidros_wrapper::msg::common_interfaces::std_msgs;
use oxidros_wrapper::prelude::*;
use tokio::runtime::Builder;
use tokio::time::interval;

static NAME: &str = "EX2";

async fn ros2_main() -> Result<()> {
    // Create a context.
    let ctx = Context::new()?;
    // Create a node.
    let node = ctx.create_node(NAME, None)?;
    let publisher = node.create_publisher::<std_msgs::msg::String>("ex2_pub", None)?;
    let mut subscriber = node.create_subscriber::<std_msgs::msg::String>("ex1_pub", None)?;
    let mut interval = interval(Duration::from_secs(1));
    let mut message = std_msgs::msg::String::new().unwrap();
    for ii in 0.. {
        message.data.assign(&format!("{}: {}", NAME, ii));
        println!("Sending: {:?}", message.data.get_string());
        publisher.send(&message)?;
        for msg in subscriber.recv_many(usize::MAX)? {
            println!("Received: {:?}", msg.sample.data.get_string());
        }
        interval.tick().await;
    }
    Ok(())
}

fn main() -> Result<()> {
    let rt = Builder::new_multi_thread()
        .thread_name(NAME)
        .enable_all()
        .build()
        .unwrap();
    rt.block_on(ros2_main())
}