working on ros connection

CMakeLists.txt

@@ -135,6 +135,7 @@ include_directories(
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
 add_executable(${PROJECT_NAME}_demo src/demo.cpp ${PROTO_SRCS} ${PROTO_HDRS})
+add_executable(${PROJECT_NAME}_ros_demo src/ros_demo.cpp ${PROTO_SRCS} ${PROTO_HDRS})
 
 
 ## Rename C++ executable without prefix
@@ -142,16 +143,20 @@ add_executable(${PROJECT_NAME}_demo src/demo.cpp ${PROTO_SRCS} ${PROTO_HDRS})
 ## target back to the shorter version for ease of user use
 ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
 set_target_properties(${PROJECT_NAME}_demo PROPERTIES OUTPUT_NAME demo PREFIX "")
+set_target_properties(${PROJECT_NAME}_ros_demo PROPERTIES OUTPUT_NAME ros_nnnnndemo PREFIX "")
 
 ## Add cmake target dependencies of the executable
 ## same as for the library above
 add_dependencies(${PROJECT_NAME}_demo ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(${PROJECT_NAME}_ros_demo ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}_demo
         ${catkin_LIBRARIES}
 )
-
+target_link_libraries(${PROJECT_NAME}_ros_demo
+        ${catkin_LIBRARIES}
+)
 
 #############
 ## Install ##

launch/ros_dummy_main.launch

+<launch>
+
+    <node pkg="ccf_base_application" type="ros_demo" name="my_ros_demo" output="screen">
+    </node>
+
+</launch>

src/ros_demo.cpp

+//
+// Created by sebastian on 02.11.21.
+//
+
+#include <ros/ros.h>
+#include <ros/package.h>
+#include <std_msgs/Empty.h>
+
+#include "ccf/controller/Controller.h"
+#include "ccf/connection/RosConnection.h"
+#include "ccf/util/NodeUtil.h"
+
+void receiverCallback(const std::string& msg){
+    std::cout << "RECEIVED: " << msg << std::endl;
+}
+
+int main(int argc, char **argv) {
+
+    GOOGLE_PROTOBUF_VERIFY_VERSION;
+
+    ros::init(argc, argv, "ros_demo");
+
+    ros::NodeHandle n;
+
+    Controller controller{n};
+
+    std::unique_ptr<RosConnection> connection = std::make_unique<RosConnection>("demo", n);
+    connection->setTopic("demo");
+   // connection->setHandle(n);
+    controller.addConnection(std::move(connection));
+    controller.addCallback("demo",receiverCallback);
+
+    ros::spin();
+
+    return 0;
+}
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