ShapesDemo-TypeSupport

Shapes Demo TypeSupport package to use with eProsima Fast DDS Shapes Demo on ROS 2 installations.

It can be built on a ROS 2 environment by running:

colcon build

It can then be used to interact with topics created by Shapes Demo like so:

source install/setup.bash
ros2 topic echo /Square

The expected output is something similar to the following.

color: RED
x: 175
y: 215
shapesize: 30
---
color: RED
x: 169
y: 210
shapesize: 30
---

The following commands will start publishing on one of the Shapes topics.

source install/setup.bash
ros2 topic pub /Square shapes_demo_typesupport/idl/KeylessShapeType "{ color: BLUE, x: 155, y: 150, shapesize: 30}"

Apart from seeing a blue square appear on the Shapes Demo window, the terminal will show something similar to the following.

publisher: beginning loop
publishing #1: shapes_demo_typesupport.idl.KeylessShapeType(color='BLUE', x=155, y=150, shapesize=30)