Merge pull request #1 from Robotics-BUT/rust_oop

Rust oop

Author: adamek727

ros/src/python_node/bin/main

@@ -7,7 +7,7 @@ from std_msgs.msg import Header
 if __name__ == '__main__':
 
     a = Header
-    rospy.init_node('python_node', anonymous=True)
+    rospy.init_node('python_node', anonymous=False)
 
     controller = cnt.Controller()
 

ros/src/rust_node/src/lib.rs

@@ -0,0 +1,22 @@
+use rosrust;
+use std::sync::Arc;
+
+pub struct Controller{
+    subscriber: Arc<rosrust::Subscriber>,
+}
+
+
+impl Controller  {
+
+    pub fn new() -> Controller {
+
+        let publisher = Arc::new(rosrust::publish("rust_to_cpp", 0).unwrap());
+        let subscriber = Arc::new(rosrust::subscribe("python_to_rust", 1, move |v: rosrust_msg::std_msgs::Header| {
+            publisher.send(v).unwrap();
+        }).unwrap());
+
+        Controller {
+            subscriber,
+        }
+    }
+}

ros/src/rust_node/src/main.rs

@@ -1,15 +1,11 @@
 use rosrust;
+extern crate rust_node;
 
 fn main() {
 
     rosrust::init("rust_node");
 
-    let publisher = rosrust::publish("rust_to_cpp", 0).unwrap();
-    let subscriber_info = rosrust::subscribe("python_to_rust", 1, move |v: rosrust_msg::std_msgs::Header| {
-        rosrust::ros_info!("Received: {}", v.seq);
-        publisher.send(v).unwrap();
-    })
-        .unwrap();
+    let controller = rust_node::Controller::new();
 
     rosrust::spin();
 }