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Fix example names, address TODO in worker demo #17

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Fix example names, address TODO in worker demo #17

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2 changes: 1 addition & 1 deletion rclrs/logging_demo/Cargo.toml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
[package]
name = "examples_logging_demo"
name = "examples_rclrs_logging_demo"
version = "0.5.0"
edition = "2021"

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4 changes: 2 additions & 2 deletions rclrs/logging_demo/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,12 @@
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>examples_logging_demo</name>
<name>examples_rclrs_logging_demo</name>
<maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
<!-- This project is not military-sponsored, Jacob's employment contract just requires him to use this email address -->
<maintainer email="jacob.a.hassold.civ@army.mil">Jacob Hassold</maintainer>
<version>0.5.0</version>
<description>Package containing an example of how to use a worker in rclrs.</description>
<description>Package containing an example of how to use logging rclrs.</description>
<license>Apache License 2.0</license>

<depend>rclrs</depend>
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2 changes: 1 addition & 1 deletion rclrs/parameter_demo/Cargo.toml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
[package]
name = "examples_parameter_demo"
name = "examples_rclrs_parameter_demo"
version = "0.5.0"
edition = "2021"

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4 changes: 2 additions & 2 deletions rclrs/parameter_demo/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,12 +3,12 @@
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>examples_parameter_demo</name>
<name>examples_rclrs_parameter_demo</name>
<maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
<!-- This project is not military-sponsored, Jacob's employment contract just requires him to use this email address -->
<maintainer email="jacob.a.hassold.civ@army.mil">Jacob Hassold</maintainer>
<version>0.5.0</version>
<description>Package containing an example of how to use a worker in rclrs.</description>
<description>Package containing an example of how to use parameters rclrs.</description>
<license>Apache License 2.0</license>

<depend>rclrs</depend>
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2 changes: 1 addition & 1 deletion rclrs/worker_demo/Cargo.toml
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
[package]
name = "examples_worker_demo"
name = "examples_rclrs_worker_demo"
version = "0.5.0"
edition = "2021"

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2 changes: 1 addition & 1 deletion rclrs/worker_demo/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
href="http://download.ros.org/schema/package_format3.xsd"
schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>examples_worker_demo</name>
<name>examples_rclrs_worker_demo</name>
<maintainer email="esteve@apache.org">Esteve Fernandez</maintainer>
<!-- This project is not military-sponsored, Jacob's employment contract just requires him to use this email address -->
<maintainer email="jacob.a.hassold.civ@army.mil">Jacob Hassold</maintainer>
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35 changes: 13 additions & 22 deletions rclrs/worker_demo/src/main.rs
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
use rclrs::*;
use std::sync::Arc;
use std::time::Duration;

fn main() -> Result<(), RclrsError> {
let mut executor = Context::default_from_env()?.create_basic_executor();
Expand All @@ -15,27 +15,18 @@ fn main() -> Result<(), RclrsError> {
},
)?;

// // Use this timer-based implementation when timers are available instead
// // of using std::thread::spawn.
// let _timer = worker.create_timer_repeating(
// Duration::from_secs(1),
// move |data: &mut String| {
// let msg = example_interfaces::msg::String {
// data: data.clone()
// };

// publisher.publish(msg).ok();
// }
// )?;

std::thread::spawn(move || loop {
std::thread::sleep(std::time::Duration::from_secs(1));
let publisher = Arc::clone(&publisher);
let _ = worker.run(move |data: &mut String| {
let msg = example_interfaces::msg::String { data: data.clone() };
publisher.publish(msg).unwrap();
});
});
// Use this timer-based implementation when timers are available instead
// of using std::thread::spawn.
let _timer = worker.create_timer_repeating(
Duration::from_secs(1),
move |data: &mut String| {
let msg = example_interfaces::msg::String {
data: data.clone()
};

publisher.publish(msg).ok();
}
)?;

println!(
"Beginning repeater... \n >> \
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