Add raw publisher examples

r2r/examples/tokio_raw_publisher.rs

@@ -0,0 +1,27 @@
+use r2r::QosProfile;
+
+#[tokio::main]
+async fn main() -> Result<(), Box<dyn std::error::Error>> {
+    let ctx = r2r::Context::create()?;
+    let mut node = r2r::Node::create(ctx, "testnode", "")?;
+    let duration = std::time::Duration::from_millis(2500);
+
+    let mut timer = node.create_wall_timer(duration)?;
+    let publisher =
+        node.create_publisher_raw("/topic", "std_msgs/msg/String", QosProfile::default())?;
+
+    let handle = tokio::task::spawn_blocking(move || loop {
+        node.spin_once(std::time::Duration::from_millis(100));
+    });
+
+    for _ in 1..10 {
+        timer.tick().await?;
+        let msg = r2r::std_msgs::msg::String {
+            data: "hello from r2r".to_string(),
+        };
+        publisher.publish(&msg.to_serialized_bytes()?)?;
+    }
+
+    handle.await?;
+    Ok(())
+}

r2r/tests/tokio_test_raw.rs

@@ -98,10 +98,12 @@ async fn tokio_publish_raw_testing() -> Result<(), Box<dyn std::error::Error>> {
                 .unwrap();
 
             pub_array
-                .publish(&r2r::std_msgs::msg::Int32MultiArray {
-                    layout: r2r::std_msgs::msg::MultiArrayLayout::default(),
-                    data: vec![i],
-                }.to_serialized_bytes().unwrap())
+                .publish(
+                    &r2r::std_msgs::msg::Int32MultiArray {
+                        layout: r2r::std_msgs::msg::MultiArrayLayout::default(),
+                        data: vec![i],
+                    }.to_serialized_bytes().unwrap()
+                )
                 .unwrap();
         });
     });