dora/apis/c++/node/README.md

• Dora Node API for C++
• • Build
  • • Build with ROS2 Bridge
  • Usage
  • • Init Dora Node
    • Receiving Events
    • Sending Outputs
  • Using the ROS2 Bridge
  • • Initializing the ROS2 Context
    • Creating Topics
    • Publish
    • Subscriptions

Dora Node API for C++

Build

• Clone the dora repository:

  > git clone https://github.com/dora-rs/dora.git
  > cd dora
  

• Build the dora-node-api-cxx package:

  cargo build --package dora-node-api-cxx
  

  • This will result in dora-node-api.h and dora-node-api.cc files in the target/cxxbridge/dora-node-api-cxx directory.
• Include the dora-node-api.h header file in your source file.
• Add the dora-node-api.cc file to your compile and link steps.

Build with ROS2 Bridge

Dora features an experimental ROS2 Bridge that enables dora nodes to publish and subscribe to ROS2 topics.
To enable the bridge, use these steps:

• Clone the dora repository (see above).
• Source the ROS2 setup files (see ROS2 docs)
• Optional: Source package-specific ROS2 setup files if you want to use custom package-specific ROS2 messages in the bridge (see ROS2 docs)
• Build the dora-node-api-cxx package with the ros2-bridge feature enabled:

  cargo build --package dora-node-api-cxx --feature ros2-bridge
  

  • In addition to the dora-node-api.h and dora-node-api.cc files, this will place a dora-ros2-bindings.h and a dora-ros2-bindings.cc file in the target/cxxbridge/dora-node-api-cxx directory.
• Include both the dora-node-api.h and the dora-ros2-bindings.h header files in your source file.
• Add the dora-node-api.cc and dora-ros2-bindings.cc files to your compile and link steps.

Usage

Init Dora Node

TODO

Receiving Events

TODO

Sending Outputs

TODO

Using the ROS2 Bridge

Initializing the ROS2 Context

TODO

Creating Topics

TODO

Publish

TODO

Subscriptions

TODO