Rename. Add conga line launch file.

CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(j7s-simple)
+project(j7s_simple)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
@@ -11,27 +11,29 @@ find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(fmt REQUIRED)
 
-add_executable(j7s-publisher src/j7s-publisher.cpp)
-target_include_directories(j7s-publisher PUBLIC
+add_executable(j7s_publisher src/j7s_publisher.cpp)
+target_include_directories(j7s_publisher PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
-target_compile_features(j7s-publisher PUBLIC c_std_99 cxx_std_17)
-target_link_libraries(j7s-publisher fmt::fmt)
-ament_target_dependencies(j7s-publisher rclcpp std_msgs)
+target_compile_features(j7s_publisher PUBLIC c_std_99 cxx_std_17)
+target_link_libraries(j7s_publisher fmt::fmt)
+ament_target_dependencies(j7s_publisher rclcpp std_msgs)
 
-add_executable(j7s-parrot src/j7s-parrot.cpp)
-target_include_directories(j7s-parrot PUBLIC
+add_executable(j7s_parrot src/j7s_parrot.cpp)
+target_include_directories(j7s_parrot PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
-target_compile_features(j7s-parrot PUBLIC c_std_99 cxx_std_17)
-target_link_libraries(j7s-parrot fmt::fmt)
-ament_target_dependencies(j7s-parrot rclcpp std_msgs)
+target_compile_features(j7s_parrot PUBLIC c_std_99 cxx_std_17)
+target_link_libraries(j7s_parrot fmt::fmt)
+ament_target_dependencies(j7s_parrot rclcpp std_msgs)
 
 install(DIRECTORY
   launch
   DESTINATION share/${PROJECT_NAME}/
 )
-install(TARGETS j7s-publisher j7s-parrot
+install(TARGETS
+  j7s_publisher
+  j7s_parrot
   DESTINATION lib/${PROJECT_NAME})
 
 ament_package()

launch/conga_line.launch.py

@@ -0,0 +1,26 @@
+import launch
+import launch_ros.actions
+
+def generate_launch_description():
+    parrots = []
+    for i in range(1, 10):
+        parrots.append(make_parrot(i))
+
+    return launch.LaunchDescription(parrots)
+
+
+def make_parrot(index):
+    index_before = index - 1
+    parrot = launch_ros.actions.Node(
+            package='j7s_simple',
+            executable='j7s_parrot',
+            name='j7s_parrot_{}'.format(index),
+            parameters=[{
+                "name":"{}".format(index)
+            }],
+            remappings=[
+                ("~/parrot_in", "parrot_{}".format(index_before)),
+                ("~/parrot_out", "parrot_{}".format(index))
+            ]
+        )
+    return parrot

launch/j7s_publisher_launch.py

@@ -3,16 +3,16 @@ import launch_ros.actions
 
 def generate_launch_description():
     publisher_node = launch_ros.actions.Node(
-            package='j7s-simple',
-            executable='j7s-publisher',
+            package='j7s_simple',
+            executable='j7s_publisher',
             name='j7s_publisher',
             parameters=[{
                 "message":"Hello"
             }]
         )
     parrot_node = launch_ros.actions.Node(
-            package='j7s-simple',
-            executable='j7s-parrot',
+            package='j7s_simple',
+            executable='j7s_parrot',
             name='j7s_parrot_1',
             parameters=[{
                 "name":"Polly"

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>j7s-simple</name>
+  <name>j7s_simple</name>
   <version>0.0.0</version>
   <description>A set of simple nodes for testing things which package ros2.</description>
   <maintainer email="jpace121@gmail.com">James Pace</maintainer>

src/j7s_parrot.cpp

@@ -14,7 +14,7 @@
 #include <fmt/core.h>
 
 #include <chrono>
-#include <j7s-simple/j7s-parrot.hpp>
+#include <j7s_simple/j7s_parrot.hpp>
 using namespace std::chrono_literals;
 
 J7sParrot::J7sParrot() : Node("j7s_parrot"), m_name{declare_parameter<std::string>("name")}

src/j7s_publisher.cpp

@@ -14,7 +14,7 @@
 #include <fmt/core.h>
 
 #include <chrono>
-#include <j7s-simple/j7s-publisher.hpp>
+#include <j7s_simple/j7s_publisher.hpp>
 using namespace std::chrono_literals;
 
 J7sPublisher::J7sPublisher() :