Branch data     Line data    Source code

       1                 :            : #include "package2/package2.hpp"
       2                 :            : #include <std_msgs/msg/int32.hpp>
       3                 :            : 
       4   [ +  -  +  - ]:          1 : Package2Node::Package2Node() : Node("package2") {
       5   [ +  -  +  -  :          4 :   sub = create_subscription<std_msgs::msg::Int32>(
          +  -  +  -  +  
                      - ]
       6                 :            :       "data", 10,
       7         [ +  - ]:          3 :       std::bind(&Package2Node::subscribe, this, std::placeholders::_1));
       8                 :            : 
       9   [ +  -  +  -  :          1 :   pub = create_publisher<std_msgs::msg::Int32>("result", 1);
                   +  - ]
      10                 :          1 : }
      11                 :            : 
      12                 :          1 : void Package2Node::subscribe(const std_msgs::msg::Int32::SharedPtr msg) {
      13                 :          1 :   data = msg->data;
      14                 :          1 :   publish();
      15                 :          1 : }
      16                 :            : 
      17                 :          1 : void Package2Node::publish() {
      18         [ +  - ]:          1 :   auto msg = std::make_unique<std_msgs::msg::Int32>();
      19                 :          1 :   msg->data = 2 * data;
      20         [ +  - ]:          1 :   pub->publish(std::move(msg));
      21                 :          1 : }