Domain bridge container #32

rebecca-butler · 2021-06-25T18:39:43Z

Signed-off-by: Rebecca Butler rebecca@openrobotics.org

jacobperron

Nice 👍

Instead of adding a new executable, what do you think about making the existing executable a "container"? Then we get the existing CLI options without having to maintain two different executables. I can't really think of any downsides.

rebecca-butler · 2021-06-28T13:48:00Z

Instead of adding a new executable, what do you think about making the existing executable a "container"?

I agree, this makes sense for reducing code duplication.

jacobperron · 2021-06-28T18:51:01Z

The changes lgtm, pending the decision in ros2/rclcpp#1702. We should document this feature (maybe a new section in the README) and some simple regression tests would be good too.

rebecca-butler · 2021-06-30T15:51:46Z

Following the discussion in ros2/rclcpp#1702, this PR now contains a component manager specific to the domain bridge.

ivanpauno

I've left a comment about why not to create one Context per Node, that's the only blocker for me.

About adding a SetNodeOptions() method as suggested in this comment, I think it's okay but it looks a bit strange.
I really think that it would be okay to add a "domain_id" option to the component manager in rclcpp_components. If the implementation guarantees only one Context per domain it isn't an issue.
But both solutions are okay to me, I don't mind strongly.

src/domain_bridge/component_manager.cpp

include/domain_bridge/component_manager.hpp

src/domain_bridge/component_manager.cpp

jacobperron

LGTM

Please add a brief section to the README demonstrating how someone could load a node into the container with a given domain ID.

include/domain_bridge/component_manager.hpp

src/domain_bridge/component_manager.cpp

include/domain_bridge/component_manager.hpp

jacobperron · 2021-07-06T21:21:34Z

We'll have to wait until the connected PR is merged and released before the CI and RPr jobs will pass. I don't think getting the upstream component manager change into Galactic is likely since it changes ABI (I think adding a new virtual function is not guaranteed to be ABI compatible). So, we'll have to diverge from Galactic (e.g. create a new galactic branch).

ivanpauno · 2021-07-06T21:40:03Z

I think adding a new virtual function is not guaranteed to be ABI compatible

👍
Adding a new virtual function breaks ABI.

jacobperron · 2021-07-07T21:44:58Z

I've created a galactic branch and opened a rosdistro PR to point to it: ros/rosdistro#30128

rebecca-butler · 2021-07-13T20:40:22Z

@ros-pull-request-builder retest this please

rebecca-butler · 2021-07-14T13:09:11Z

@ros-pull-request-builder retest this please

jacobperron · 2021-07-14T21:05:38Z

I manually retriggered the GitHub workflow too.

We can ignore the Gpr job since we've already updated rosdistro to point to the galactic branch.

jacobperron · 2021-07-14T21:19:48Z

I guess the workflow may not use our testing repo for fetching Debians (or it's caching an older version of the package). I think we can ignore it and rely on the RPr job.

rebecca-butler · 2021-07-15T19:03:34Z

There's an API change in ros2/rclcpp#1716 that affects this PR, so I think we should wait until that lands before merging.

rebecca-butler · 2021-08-06T15:07:46Z

I rebased and CI looks good now. @jacobperron could you give this one more look before we merge?

ivanpauno

LGTM!
It would be good to have some tests for this.

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

rebecca-butler · 2021-08-17T20:22:35Z

@ivanpauno I added a test for this, could you take a look again? Thanks!

ivanpauno

LGTM!

jacobperron · 2021-11-05T23:06:41Z

CMakeLists.txt

+  install(TARGETS ${PROJECT_NAME}_test_component_lib
+    EXPORT export_${PROJECT_NAME}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION lib/${PROJECT_NAME}
+  )


Installing the test library and using the same export name as the primary domain_bridge library causes issues with linking in downstream packages. For instance, I ran into a case where the dependency test_msgs could not be found when linking against the domain_bridge.

I don't think we need to install the library (or at the very least we can avoid exporting it).
See #61 for a fix.

rebecca-butler linked an issue Jun 25, 2021 that may be closed by this pull request

Integrate domain bridge with rclcpp_components #31

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jacobperron mentioned this pull request Jul 7, 2021

Update Galactic branch for domain_bridge ros/rosdistro#30128

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rebecca-butler force-pushed the domain_bridge_container branch from 6f92b0d to c3afff1 Compare August 6, 2021 14:26

ivanpauno approved these changes Aug 9, 2021

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rebecca-butler added 8 commits August 12, 2021 14:51

Add domain bridge container

999daf6

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

Combined domain bridge executables

bac17dc

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

Remove container from CMakeLists.txt

75c440f

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

Add ComponentManager class

219a5bd

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

Modify ComponentManager to redefine SetNodeOptions

86a3fa0

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

Guard against user entering negative domain id

4cf6ed1

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

Reuse context for given domain if already created

8ded7a3

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

Rename SetNodeOptions -> CreateNodeOptions

bb86462

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

rebecca-butler added 5 commits August 12, 2021 14:51

Modify CreateNodeOptions to use emplace

b577ece

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

Minor fixes and update to README.md

85802b4

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

Rename CreateNodeOptions() -> create_node_options()

dd4e29f

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

Fix errors from rebase

5d450ca

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

Add unit test

4e97e8f

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

rebecca-butler force-pushed the domain_bridge_container branch from caafb0a to 4e97e8f Compare August 12, 2021 19:14

rebecca-butler added 4 commits August 12, 2021 15:22

Fix CMake

467f057

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

Fix CMake again

a73f057

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

Replace deprecated rosidl_target_interfaces

7e8678a

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

Fix linter

b77ff88

Signed-off-by: Rebecca Butler <rebecca@openrobotics.org>

rebecca-butler requested review from ivanpauno and jacobperron August 13, 2021 14:13

ivanpauno approved these changes Aug 17, 2021

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rebecca-butler merged commit a24b08e into ros2:main Aug 18, 2021

rebecca-butler deleted the domain_bridge_container branch August 18, 2021 00:46

aprotyas mentioned this pull request Oct 28, 2021

Add Foxy support #60

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Domain bridge container #32

Domain bridge container #32

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Domain bridge container #32

Domain bridge container #32

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