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- diff --git a/demo_nodes_cpp/src/topics/listener.cpp b/demo_nodes_cpp/src/topics/listener.cpp
- index 454f896..aa81a66 100644
- --- a/demo_nodes_cpp/src/topics/listener.cpp
- +++ b/demo_nodes_cpp/src/topics/listener.cpp
- @@ -14,6 +14,7 @@
- #include <iostream>
- #include <memory>
- +#include <vector>
- #include "rclcpp/rclcpp.hpp"
- @@ -29,8 +30,13 @@ int main(int argc, char * argv[])
- rclcpp::init(argc, argv);
- auto node = rclcpp::Node::make_shared("listener");
- - auto sub = node->create_subscription<std_msgs::msg::String>(
- - "chatter", chatterCallback, rmw_qos_profile_default);
- + std::vector<rclcpp::subscription::SubscriptionBase::SharedPtr> subs;
- +
- + for (size_t i = 0; i < 40; ++i) {
- + auto sub = node->create_subscription<std_msgs::msg::String>(
- + "chatter" + std::to_string(i), chatterCallback, rmw_qos_profile_default);
- + subs.push_back(sub);
- + }
- rclcpp::spin(node);
- diff --git a/demo_nodes_cpp/src/topics/talker.cpp b/demo_nodes_cpp/src/topics/talker.cpp
- index c1b73f0..fe19834 100644
- --- a/demo_nodes_cpp/src/topics/talker.cpp
- +++ b/demo_nodes_cpp/src/topics/talker.cpp
- @@ -14,6 +14,7 @@
- #include <iostream>
- #include <memory>
- +#include <vector>
- #include "rclcpp/rclcpp.hpp"
- @@ -28,7 +29,14 @@ int main(int argc, char * argv[])
- rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_default;
- custom_qos_profile.depth = 7;
- - auto chatter_pub = node->create_publisher<std_msgs::msg::String>("chatter", custom_qos_profile);
- + std::vector<rclcpp::publisher::Publisher<std_msgs::msg::String>::SharedPtr> publishers;
- +
- + for (size_t i = 0; i < 40; ++i) {
- + auto chatter_pub = node->create_publisher<std_msgs::msg::String>(
- + "chatter" + std::to_string(i),
- + custom_qos_profile);
- + publishers.push_back(chatter_pub);
- + }
- rclcpp::WallRate loop_rate(2);
- @@ -38,7 +46,9 @@ int main(int argc, char * argv[])
- while (rclcpp::ok()) {
- msg->data = "Hello World: " + std::to_string(i++);
- std::cout << "Publishing: '" << msg->data << "'" << std::endl;
- - chatter_pub->publish(msg);
- + for (auto publisher : publishers) {
- + publisher->publish(msg);
- + }
- rclcpp::spin_some(node);
- loop_rate.sleep();
- }
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