https://github.com/henriktrom/ros-node-interface

A lightweight C++ and python interface template for managing ROS nodes with start/stop/shutdown control via ROS services.
https://github.com/henriktrom/ros-node-interface

cpp interface ros ros2

Last synced: 2 months ago
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A lightweight C++ and python interface template for managing ROS nodes with start/stop/shutdown control via ROS services.

• Host: GitHub
• URL: https://github.com/henriktrom/ros-node-interface
• Owner: HenrikTrom
• License: cc0-1.0
• Created: 2025-05-27T14:22:01.000Z (about 1 year ago)
• Default Branch: main
• Last Pushed: 2025-06-20T16:41:23.000Z (about 1 year ago)
• Last Synced: 2025-06-20T17:41:21.912Z (about 1 year ago)
• Topics: cpp, interface, ros, ros2
• Language: C++
• Homepage:
• Size: 8.79 KB
• Stars: 0
• Watchers: 0
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: Readme.md
  • License: LICENSE
  • Citation: Citation.cff

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README

          
# ros-node-interface

[![DOI](https://zenodo.org/badge/991372107.svg)](https://zenodo.org/badge/latestdoi/991372107)

A lightweight C++ and python interface template for managing ROS nodes with start/stop/shutdown control via ROS services.

## 📑 Citation

If you use this software, please use the GitHub **“Cite this repository”** button at the top(-right) of this page.

This module provides a generic wrapper (`BaseRosInterface`) around any ROS-compatible module class, enabling it to be:

- Started and stopped using ROS service calls

- Managed with a clean threaded loop

- Extended for custom node types and behaviors

## Features

- Threaded execution loop (`loop_step`)

- Service-based control (`start`, `stop`, `shutdown`)

- Simple modular interface for defining new node types

- Example `TestModule` provided for demonstration

## Example Usage

```cpp

#include "ros-node-interface.hpp"

int main(int argc, char **argv)

{

    ros::init(argc, argv, "my_node");

    auto my_module = std::make_unique(

        ros::NodeHandle(), "my_topic"

    );

    ros_node_interface::BaseRosInterface interface(

        std::move(my_module)

    );

    return 0;

}

````

## Dependencies

* ROS (tested with ROS Noetic)

* `std_srvs/Trigger`

* C++14 or newer