Ros2 migrate diagnostic aggregator #118

Karsten1987 · 2019-07-25T01:27:26Z

This is currently still work in progress in order to make all tests pass.

norro · 2019-08-07T12:57:19Z

@Karsten1987 can you fix the jenkins setup so that this PR builds against the proper bondcpp PR? I don't know how to that tbh.

Karsten1987 · 2019-08-07T21:46:14Z

@norro the current PR compiles and passes all linters. However, the test doesn't pass. It's essentially because it can't find the appropriate parameter:

  std::map<std::string, rclcpp::Parameter> parameters;
  if (!n->get_parameters(breadcrumb_, parameters)) {
    RCLCPP_WARN(logger_,
      "Couldn't retrieve parameters for analyzer group '%s', namespace '%s'.",
      breadcrumb_.c_str(), n->get_namespace());
    return false;
  }

Do you know what parameter should be set here?

norro · 2019-08-08T13:59:37Z

Do you know what parameter should be set here?

This test requires a parameters yaml file, e.g., all_basic_analyzers.yaml. I tried to set this up with launch-testing, but failed.
I added a demo launch setup that should show what I wanted to do for the test as well, see PR in the downstream repo: boschresearch#3

I can't properly test this right now, as somehow the plugin loading seems to be broken right now for me (it was working before an install folder cleanup I just did, probably was working due to some legacy files in my install folder).

Karsten1987 · 2020-02-07T23:31:24Z

@norro @ralph-lange This PR compiles but has quite some test failures in flake8 and copyright. Do you plan on addressing them? I think we've talked about not having python support due to the lack of bondpy. I would therefore propose to cleanup the unused python files in order to have a clean state with all passing linters/test before merging this PR.

norro · 2020-02-10T12:15:00Z

@Karsten1987 Agreed. Should we remove the diagnostic_aggregator python stuff from the branch entirely then? (of course keeping the python scripts for the example and testing)

Regarding the copyright notices: the respective colcon test (I think ament_copyright) is complaining about a lot of hpp files that have a copyright notice in them. It is an old notice (willow garage, 2008), but still. do you know how to address these? they are the same as in the other diagnostic_* packages hpp files.

Karsten1987 · 2020-02-10T18:36:28Z

I think it's okay to delete the unused python stuff from this branch. We can open a follow-up github ticket to revive the python aggregator functionality once bond_py is ported. I think it's sufficient to limit the scope of this PR to C++.

As for the copyright linters: You can disable them specifically per project by adding this line to the CMakeLists.txt: set(ament_cmake_copyright_FOUND TRUE).

Please make sure to run colcon build as well as colcon test locally to see that all linters pass before we can trigger CI here and bring this PR forward.

norro · 2020-02-11T14:46:54Z

@Karsten1987 I removed the python stuff accordingly, all tests/checks running without errors.
I build against boschresearch/bond_core#fix_ros2, which I suggest merging to ros/bondcore as well.

Karsten1987 · 2020-02-24T19:18:48Z

~~@norro could you please rebase this branch on top of the latest ros2-devel branch?~~

I took the liberty to rebase your branch as it's already a fair mix of contributions :)

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

* To be done: logging, assertions, parameter handling Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

* Migrated from XMLRPC to ROS2 parameters parsing * Doesn't create working analzers, yet Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

* Split anaylzers into seperate plugin lib * Build shared lib to be used by plugin class loader * Fixed plugin registration of analyzers Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

* Improved parameter handling of generic_analyzer Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

* Separate handling of the analyzer's (and analyzer group's): ** "nice" name ** path (path of their results in the robot monitor) ** breadcrumb (prefix of their yaml configuration) * Logging * Uncrustify

* Using std::mutex instead of boost::mutex. Using std::lock_guard instead of boost::scoped_lock since std::scoped_lock was not introduced before C++17 * Using std::regex instead of boost::regex Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

norro · 2020-04-29T13:32:30Z

I was able to remove the uuid dependency, this issue doesn't seem to block the builds anymore.

Karsten1987 · 2020-04-30T16:06:45Z

Linux
Linux-aarch64
macOS
Windows

Karsten1987 · 2020-04-30T18:52:51Z

@norro Build looks good so far. I think there's something Linux specific in the CMakeLists.txt:

# see https://github.com/pybind/pybind11/commit/ba33b2fc798418c8c9dfe801c5b9023d3703f417
target_compile_options(${PROJECT_NAME} PRIVATE -Wdeprecated)

-Wdeprecated is not supported on Windows. That needs a special treatment.

Signed-off-by: Karsten Knese <karsten.knese@us.bosch.com>

Karsten1987 · 2020-05-01T16:36:21Z

Linux
Linux-aarch64
macOS
Windows

Signed-off-by: Karsten Knese <karsten.knese@us.bosch.com>

Karsten1987 · 2020-05-01T20:36:43Z

Linux
Linux-aarch64
macOS // CI hiccup
Windows

Signed-off-by: Karsten Knese <karsten.knese@us.bosch.com>

Karsten1987 · 2020-05-01T21:19:25Z

@norro so your PR builds now on all platforms. There are a non-zero amount of failing tests on Windows. Please have a look at them.

There's a known problem with sending Ctrl-C commands to a test in windows. So if you expect work to be done in a destructor or something, that might be a problem here. If there's no easy workaround, we might have to disable the tests on Windows.

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Karsten1987 · 2020-05-17T01:15:31Z

Linux
Linux-aarch64
macOS
Windows

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

norro · 2020-05-17T18:03:34Z

Sorry, used the wrong path magic. Can you check again, please, @Karsten1987.

Karsten1987 · 2020-05-17T19:10:26Z

Linux
Linux-aarch64
macOS
Windows

More path fixes inside tests. Tests were expecting to find the node executable in the CMAKE_BINARY_DIR before, which is true on linux but not on windows. Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Karsten1987 · 2020-06-02T17:34:40Z

Linux
Linux-aarch64
macOS
Windows

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Karsten1987 · 2020-06-02T20:14:45Z

Linux
Linux-aarch64
macOS
Windows

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Karsten1987 · 2020-06-02T22:39:41Z

Linux
Linux-aarch64
macOS
Windows

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Karsten1987 · 2020-06-03T01:00:41Z

Linux
Linux-aarch64
macOS
Windows

norro · 2020-06-03T07:20:57Z

Looks like the last Windows build failing was due to a hicc-up in the build setup (pip installation of dependencies).

Karsten1987 · 2020-06-03T15:17:10Z

Windows once more: // These warnings are unrelated.

norro · 2020-06-04T07:49:32Z

whoop

Karsten1987 · 2020-06-30T15:41:37Z

@norro can that branch be deleted?

norro · 2020-07-01T06:29:24Z

absolutely.

Karsten1987 self-assigned this Jul 25, 2019

Karsten1987 mentioned this pull request Aug 20, 2019

Aggregator demo launch boschresearch/ros2_diagnostics#3

Closed

norro mentioned this pull request Aug 22, 2019

Diagnostic Aggregator Testing boschresearch/ros2_diagnostics#4

Merged

Karsten1987 added the ros2 PR tackling a ROS2 branch label Aug 27, 2019

sloretz mentioned this pull request Oct 24, 2019

remove completed items from roadmap ros2/ros2_documentation#383

Merged

Karsten1987 mentioned this pull request Jan 16, 2020

ROS 2 Foxy Fitzroy ros2/ros2#830

Closed

3 tasks

Karsten1987 mentioned this pull request Feb 18, 2020

find uuid correctly on ubuntu and osx ros/bond_core#55

Merged

norro added 15 commits February 24, 2020 15:33

Removed AMENT_IGNORE and uncrustified

d1bb8d2

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Started migration of c++ API

513cecb

* To be done: logging, assertions, parameter handling Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Started migration of python tests

91b8d00

Started migration of analyzer group

5261f1f

* Migrated from XMLRPC to ROS2 parameters parsing * Doesn't create working analzers, yet Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Migrated analyzers plugin

be04bfb

* Split anaylzers into seperate plugin lib * Build shared lib to be used by plugin class loader * Fixed plugin registration of analyzers Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Analyzer group correctly setting up analyzers

0dd205d

* Improved parameter handling of generic_analyzer Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

API migration to ROS2 c++ + logging

6a27554

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

uncrustified

dc0749a

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Reworked analyzer paths and names

510005c

* Separate handling of the analyzer's (and analyzer group's): ** "nice" name ** path (path of their results in the robot monitor) ** breadcrumb (prefix of their yaml configuration) * Logging * Uncrustify

Examples

d90fba3

Less strict cpplint

39c3364

removed using namespace

d126973

Fixes complation of analyzer group test

8d44d55

Removed dependency to boost

9ec462a

* Using std::mutex instead of boost::mutex. Using std::lock_guard instead of boost::scoped_lock since std::scoped_lock was not introduced before C++17 * Using std::regex instead of boost::regex Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Alphabetical order of includes and dependencies

740e5bc

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Adds missing dependency to launch_testing_ros

f4f668f

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

deprecation warning only on non-windows

8d6a160

Signed-off-by: Karsten Knese <karsten.knese@us.bosch.com>

export symbols on windows

ab304fd

Signed-off-by: Karsten Knese <karsten.knese@us.bosch.com>

fix cpplint

8c112f6

Signed-off-by: Karsten Knese <karsten.knese@us.bosch.com>

Proper handling of file separators in cmake

967f876

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Proper handling of file separators in cmake

097a817

Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

Tests working on windows and linux

38975c0

More path fixes inside tests. Tests were expecting to find the node executable in the CMAKE_BINARY_DIR before, which is true on linux but not on windows. Signed-off-by: Arne Nordmann <arne.nordmann@de.bosch.com>

fix windows installation path

0d8fc8a

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

correctly enable visibility macros

762aaee

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

correct sign conversion

5c55d0f

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Karsten1987 merged commit 54f79ff into ros:ros2-devel Jun 3, 2020

norro deleted the ros2_migrate_diagnostic_aggregator branch July 1, 2020 06:29

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Ros2 migrate diagnostic aggregator #118

Ros2 migrate diagnostic aggregator #118

Karsten1987 commented Jul 25, 2019

norro commented Aug 7, 2019

Karsten1987 commented Aug 7, 2019

norro commented Aug 8, 2019

Karsten1987 commented Feb 7, 2020

norro commented Feb 10, 2020

Karsten1987 commented Feb 10, 2020

norro commented Feb 11, 2020

Karsten1987 commented Feb 24, 2020 •

edited

Loading

norro commented Apr 29, 2020

Karsten1987 commented Apr 30, 2020

Karsten1987 commented Apr 30, 2020

Karsten1987 commented May 1, 2020

Karsten1987 commented May 1, 2020 •

edited

Loading

Karsten1987 commented May 1, 2020

Karsten1987 commented May 17, 2020

norro commented May 17, 2020

Karsten1987 commented May 17, 2020

Karsten1987 commented Jun 2, 2020

Karsten1987 commented Jun 2, 2020

Karsten1987 commented Jun 2, 2020

Karsten1987 commented Jun 3, 2020

norro commented Jun 3, 2020

Karsten1987 commented Jun 3, 2020 •

edited

Loading

norro commented Jun 4, 2020

Karsten1987 commented Jun 30, 2020

norro commented Jul 1, 2020

Ros2 migrate diagnostic aggregator #118

Ros2 migrate diagnostic aggregator #118

Conversation

Karsten1987 commented Jul 25, 2019

norro commented Aug 7, 2019

Karsten1987 commented Aug 7, 2019

norro commented Aug 8, 2019

Karsten1987 commented Feb 7, 2020

norro commented Feb 10, 2020

Karsten1987 commented Feb 10, 2020

norro commented Feb 11, 2020

Karsten1987 commented Feb 24, 2020 • edited Loading

norro commented Apr 29, 2020

Karsten1987 commented Apr 30, 2020

Karsten1987 commented Apr 30, 2020

Karsten1987 commented May 1, 2020

Karsten1987 commented May 1, 2020 • edited Loading

Karsten1987 commented May 1, 2020

Karsten1987 commented May 17, 2020

norro commented May 17, 2020

Karsten1987 commented May 17, 2020

Karsten1987 commented Jun 2, 2020

Karsten1987 commented Jun 2, 2020

Karsten1987 commented Jun 2, 2020

Karsten1987 commented Jun 3, 2020

norro commented Jun 3, 2020

Karsten1987 commented Jun 3, 2020 • edited Loading

norro commented Jun 4, 2020

Karsten1987 commented Jun 30, 2020

norro commented Jul 1, 2020

Karsten1987 commented Feb 24, 2020 •

edited

Loading

Karsten1987 commented May 1, 2020 •

edited

Loading

Karsten1987 commented Jun 3, 2020 •

edited

Loading