two_node_pipeline.cpp

main.cpp

int main(int argc, char * argv[])
{
  setvbuf(stdout, NULL, _IONBF, BUFSIZ);
  rclcpp::init(argc, argv);
  // 複数のノードを単一スレッドで実行させる実行器
  rclcpp::executors::SingleThreadedExecutor executor;

  auto producer = std::make_shared<Producer>("producer", "number");
  auto consumer = std::make_shared<Consumer>("consumer", "number");

  // Pub/Subノードの登録
  executor.add_node(producer);
  executor.add_node(consumer);
  // 実行器の実行開始
  executor.spin();
  return 0;
}