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Add flag to enable/disable rosout logging in each node individually. #532

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merged 6 commits into from
Nov 29, 2019

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Barry-Xu-2018
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there is one more spot to take care as following,

static bool g_rcl_logging_rosout_enabled = false;

this flag is also used to check if rosout is enabled or disabled as global switch, should check node option here as well.

@Barry-Xu-2018
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Barry-Xu-2018 commented Oct 24, 2019

there is one more spot to take care as following,

static bool g_rcl_logging_rosout_enabled = false;

this flag is also used to check if rosout is enabled or disabled as global switch, should check node option here as well.

Where to check node option?
Do you mean check as below ?

rcl_ret_t
rcl_logging_configure(const rcl_arguments_t * global_args, const rcl_allocator_t * allocator)
  ...
  if (g_rcl_logging_rosout_enabled) {          <== here to check node option ?
    status = rcl_logging_rosout_init(allocator);

sequence:

1. rclcpp::init -> ... -> rcl_logging_configure 
2. and then create Node with NodeOptions

So it can't be use NodeOptions to check before creating publisher of /rosout

My understanding as follows:

  • g_rcl_logging_rosout_enabled

    to control whether to create publisher for /rosout or not

  • NodeOptions::disable_rosout

    to control each node if output log via publisher(/rosout)

My understanding is right ?

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@Barry-Xu-2018

My understanding is right ?

yes, sorry that was my bad to point the wrong place.
since that is rcl initialization phase, it cannot get node information.

@ivanpauno

can you confirm my understanding?

g_rcl_logging_rosout_enabled NodeOptions::disable_rosout rosout setting for node
true(default) false(default) true
true(default) true false
false false(default) false
false true false

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@Barry-Xu-2018

My understanding is right ?

yes, sorry that was my bad to point the wrong place.
since that is rcl initialization phase, it cannot get node information.

@ivanpauno

can you confirm my understanding?

g_rcl_logging_rosout_enabled NodeOptions::disable_rosout rosout setting for node
true(default) false(default) true
true(default) true false
false false(default) false
false true false

Yes, it's correct.
IMO, using opposite logic conventions in both flags is confusing, though I don't mind strongly.


We're currently in a feature freeze, so this will have to wait until we create an Eloquent branch.

@Barry-Xu-2018
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@ivanpauno

IMO, using opposite logic conventions in both flags is confusing, though I don't mind strongly.

I think you means why we use 'disable_rosout' under NodeOptions?

About 'g_rcl_logging_rosout_enabled', user set its value with "__log_disable_stdout:=" ( or --ros-args --disable-stdout-logs ), so I think it's better to use disable flag on NodeOptions.

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@ivanpauno

IMO, using opposite logic conventions in both flags is confusing, though I don't mind strongly.

i do agree on this,

@Barry-Xu-2018

i believe that @ivanpauno telling about implementation consistency, so NodeOptions::enable_rosout is better for the consistency.

but i do not have strong intention on this enable/disable stuff, it is just nice to have.

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
@ivanpauno
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@Barry-Xu-2018 I will come back to this after Eloquent is released (there is a feature freeze now).
Please, ping me if I don't. Thanks!

@Barry-Xu-2018
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@ivanpauno

I will come back to this after Eloquent is released (there is a feature freeze now).
Please, ping me if I don't. Thanks!

OK. thanks.

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LGTM!

I was wondering if having rosout logging globally enabled and locally disabled in a node would cause any error, because of the corresponding rosout publisher not being initialized.
But, it seems to be already handled correctly by the existent code

if (RCUTILS_RET_OK == rcutils_ret) {
.

I would like to see some minimal testing on this before merging, just a test case where rosout is globally enabled, create a node that doesn't use rosout logging, and log something.

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After this is merged, it would be good to create follow-up PRs in rclcpp, rclpy.

@Barry-Xu-2018
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@ivanpauno

LGTM!

I was wondering if having rosout logging globally enabled and locally disabled in a node would cause any error, because of the corresponding rosout publisher not being initialized.
But, it seems to be already handled correctly by the existent code

if (RCUTILS_RET_OK == rcutils_ret) {

.
I would like to see some minimal testing on this before merging, just a test case where rosout is globally enabled, create a node that doesn't use rosout logging, and log something.

About 'test', do you mean I should add test codes into rcl/rcl/test/ ?
If yes, this my first time to add test and I need to study how to write test codes.

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@ivanpauno

After this is merged, it would be good to create follow-up PRs in rclcpp, rclpy.

either me or @Barry-Xu-2018 will take care of those.

@Barry-Xu-2018
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Barry-Xu-2018 commented Nov 22, 2019

@ivanpauno

After consideration, I think rcl_logging_rosout_output_handler() can't be tested.

About rcutils_hash_map_get(&__logger_map, ..), __logger_map is defined with a static variable in the logging_rosout.c it means I can't test with

    rcl_node_options_t default_options = rcl_node_get_default_options();
    default_options.enable_rosout = false;
    rcl_node_t node = rcl_get_zero_initialized_node();
    ret = rcl_node_init(&node, "node", "/ns", &context, &default_options);

    ...
    to check rcl_logging_rosout_output_handler() or rcutils_hash_map_get(__logger_map)

Instead, I need to test as follows, but below test is strange

        rcl_node_options_t default_options = rcl_node_get_default_options();
        default_options.enable_rosout = false;
        rcl_node_t node = rcl_get_zero_initialized_node();
        ret = rcl_node_init(&node, "node", "/ns", &context, &default_options);

                  // if (rcl_logging_rosout_enabled() && node->impl->options.enable_rosout) {
                  //   ret = rcl_logging_rosout_init_publisher_for_node(node);       <== to set rcutils_hash_map_set(&__logger_map, &logger_name, &new_entry)
        ...
        rcutils_hash_map_t logger_map_tmp;        <== define a "rcutils_hash_map_t" to test rcutils_hash_map_get's result is RCUTILS_RET_NOT_FOUND
        to check rcutils_hash_map_get(logger_map_tmp).

Could you share your thought ?

@ivanpauno
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ivanpauno commented Nov 22, 2019

@Barry-Xu-2018

Sorry, I was thinking in something much trivial.

Just creating a node that doesn't use rosout and log something.
If the code doesn't crash and all the return codes are ok, that is at least some minimal testing.


If you want to do something more complex, you can subscribe to /rosout topic and check that nothing is received.

Something like:

  /// Error checking and cleanup code have to be added.

  // create context
  rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
  rcl_ret_t ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
  rcl_context_t context = rcl_get_zero_initialized_context();
  ret = rcl_init(0, nullptr, &init_options, &context);

  // create node
  rcl_node_options_t node_options = rcl_node_get_default_options();
  node_options.enable_rosout = false;
  const char * name = "test_rcl_node_rosout_logging_disabled";
  const char * namespace_ = "/ns";
  rcl_node_t node = rcl_get_zero_initialized_node();
  ret = rcl_node_init(&node, name, namespace_, &context, &node_options);

  // create rosout subscription
  const rosidl_message_type_support_t * ts =
    ROSIDL_GET_MSG_TYPE_SUPPORT(rcl_interfaces, msg, Log);
  const char * topic = "rosout";
  rcl_subscription_t subscription = rcl_get_zero_initialized_subscription();
  rcl_subscription_options_t subscription_options = rcl_subscription_get_default_options();
  ret = rcl_subscription_init(&subscription, &node, ts, topic, &subscription_options);

  // log
  RCUTILS_LOG_INFO_NAMED(node.get_logger_name(), "SOMETHING");

  bool success;
  wait_for_subscription_to_be_ready(&subscription, &context, 10, 100, success);
  ASSERT_FALSE(success);

  // more cleanup code

Disclaimer: The above code is just an idea, I haven't built nor tested that.

Where wait_for_subscription_to_be_ready is

void
wait_for_subscription_to_be_ready(
rcl_subscription_t * subscription,
rcl_context_t * context,
size_t max_tries,
int64_t period_ms,
bool & success)
{
rcl_wait_set_t wait_set = rcl_get_zero_initialized_wait_set();
rcl_ret_t ret =
rcl_wait_set_init(&wait_set, 1, 0, 0, 0, 0, 0, context, rcl_get_default_allocator());
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({
rcl_ret_t ret = rcl_wait_set_fini(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
});
size_t iteration = 0;
do {
++iteration;
ret = rcl_wait_set_clear(&wait_set);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait_set_add_subscription(&wait_set, subscription, NULL);
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
ret = rcl_wait(&wait_set, RCL_MS_TO_NS(period_ms));
if (ret == RCL_RET_TIMEOUT) {
continue;
}
ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
for (size_t i = 0; i < wait_set.size_of_subscriptions; ++i) {
if (wait_set.subscriptions[i] && wait_set.subscriptions[i] == subscription) {
success = true;
return;
}
}
} while (iteration < max_tries);
success = false;
}

For handling cleanup code, it's good to use

OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT({

You can check both test_subscription and test_node code.

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
@Barry-Xu-2018
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@ivanpauno

Thanks for your suggestions.
I have added test codes.
Please review them.

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LGTM!

CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status


/* Basic nominal test of having rosout logging globally enabled and locally enabled in a node
*/
TEST_F(CLASSNAME(TestLoggingRosoutFixture, RMW_IMPLEMENTATION), test_enable_global_rosout_enable_nodeoption) {
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nit: You can use a parameterized test.

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nit: You can use a parameterized test.

I try it. But find below problem.

After using value-parameterized-tests, it seems INSTANTIATE_TEST_CASE_P not work well with CLASSNAME (TestLoggingRosoutFixture, RMW_IMPLEMENTATION).
(use googletest inside ros2, repository: https://github.com/ament/googletest.git, branch: ros2.)

INSTANTIATE_TEST_CASE_P(InstantiationName, CLASSNAME(TestLoggingRosoutFixture, RMW_IMPLEMENTATION),
  testing::Values(
    param_t(0, nullptr, true, true),
    param_t(0, nullptr, false, false),
    param_t(s_argc, s_argv, true, false),
    param_t(s_argc, s_argv, false, false)),);

build failed as follows,

[ 20%] Building CXX object test/CMakeFiles/test_logging_rosout__rmw_opensplice_cpp.dir/rcl/test_logging_rosout.cpp.o
In file included from /root/workspace/install/src/gtest_vendor/include/gtest/gtest.h:65:0,
                 from /root/workspace/src/ros2/rcl/rcl/test/rcl/test_logging_rosout.cpp:15:
/root/workspace/src/ros2/rcl/rcl/test/rcl/test_logging_rosout.cpp:165:58: error: pasting ")" and "_EvalGenerator_" does not give a valid preprocessing token
   CLASSNAME (TestLoggingRosoutFixture, RMW_IMPLEMENTATION),
                                                          ^
/root/workspace/install/src/gtest_vendor/include/gtest/gtest-param-test.h:562:23: note: in definition of macro ‘INSTANTIATE_TEST_CASE_P’
       gtest_##prefix##test_case_name##_EvalGenerator_() { return generator; } \
                       ^~~~~~~~~~~~~~
/root/workspace/src/ros2/rcl/rcl/test/rcl/test_logging_rosout.cpp:165:58: error: pasting ")" and "_EvalGenerateName_" does not give a valid preprocessing token
   CLASSNAME (TestLoggingRosoutFixture, RMW_IMPLEMENTATION),
                                                          ^
/root/workspace/install/src/gtest_vendor/include/gtest/gtest-param-test.h:563:40: note: in definition of macro ‘INSTANTIATE_TEST_CASE_P’
   static ::std::string gtest_##prefix##test_case_name##_EvalGenerateName_( \
                                        ^~~~~~~~~~~~~~
/root/workspace/src/ros2/rcl/rcl/test/rcl/test_logging_rosout.cpp:165:58: error: pasting ")" and "_dummy_" does not give a valid preprocessing token
   CLASSNAME (TestLoggingRosoutFixture, RMW_IMPLEMENTATION),
                                                          ^
/root/workspace/install/src/gtest_vendor/include/gtest/gtest-param-test.h:568:30: note: in definition of macro ‘INSTANTIATE_TEST_CASE_P’
   static int gtest_##prefix##test_case_name##_dummy_ GTEST_ATTRIBUTE_UNUSED_ = \
                              ^~~~~~~~~~~~~~
...<snip>

If using the following code

INSTANTIATE_TEST_CASE_P(InstantiationName, TestLoggingRosoutFixture,
                                           ^^^^^^^^^^^^^^^^^^^^^^^^^ <== Use fixed class name, it works well. (But if test case failed, it is not clear to show which implementation cause the error.)
  testing::Values(
    param_t(0, nullptr, true, true),
    param_t(0, nullptr, false, false),
    param_t(s_argc, s_argv, true, false),
    param_t(s_argc, s_argv, false, false)),);

Do you think it's acceptable?

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@Barry-Xu-2018 Barry-Xu-2018 Nov 26, 2019

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@ivanpauno

I found another way to solve the above issue.
Update "ament/googletest" as follows,

diff --git a/googletest/include/gtest/gtest-param-test.h b/googletest/include/gtest/gtest-param-test.h
index 8cc3dd7..c7dca22 100644
--- a/googletest/include/gtest/gtest-param-test.h
+++ b/googletest/include/gtest/gtest-param-test.h
@@ -557,23 +557,32 @@ internal::CartesianProductHolder10<Generator1, Generator2, Generator3,
 // alphanumeric characters or underscore. Because PrintToString adds quotes
 // to std::string and C strings, it won't work for these types.
 
+#define GTEST_TEST_CASE_NAME_EVAL_GENERATOR(prefix, test_case_name) \
+  gtest_##prefix##test_case_name##_EvalGenerator_
+
+#define GTEST_TEST_CASE_NAME_EVAL_GENERATOR_NAME(prefix, test_case_name) \
+  gtest_##prefix##test_case_name##_EvalGenerateName_
+
+#define GTEST_TEST_CASE_NAME_DUMMY(prefix, test_case_name) \
+  gtest_##prefix##test_case_name##_dummy_
+
 # define INSTANTIATE_TEST_CASE_P(prefix, test_case_name, generator, ...) \
   static ::testing::internal::ParamGenerator<test_case_name::ParamType> \
-      gtest_##prefix##test_case_name##_EvalGenerator_() { return generator; } \
-  static ::std::string gtest_##prefix##test_case_name##_EvalGenerateName_( \
+      GTEST_TEST_CASE_NAME_EVAL_GENERATOR(prefix, test_case_name)() { return generator; } \
+  static ::std::string GTEST_TEST_CASE_NAME_EVAL_GENERATOR_NAME(prefix, test_case_name) ( \
       const ::testing::TestParamInfo<test_case_name::ParamType>& info) { \
     return ::testing::internal::GetParamNameGen<test_case_name::ParamType> \
         (__VA_ARGS__)(info); \
   } \
-  static int gtest_##prefix##test_case_name##_dummy_ GTEST_ATTRIBUTE_UNUSED_ = \
+  static int GTEST_TEST_CASE_NAME_DUMMY(prefix, test_case_name) GTEST_ATTRIBUTE_UNUSED_ = \
       ::testing::UnitTest::GetInstance()->parameterized_test_registry(). \
           GetTestCasePatternHolder<test_case_name>(\
               #test_case_name, \
               ::testing::internal::CodeLocation(\
                   __FILE__, __LINE__))->AddTestCaseInstantiation(\
                       #prefix, \
-                      &gtest_##prefix##test_case_name##_EvalGenerator_, \
-                      &gtest_##prefix##test_case_name##_EvalGenerateName_, \
+                      &GTEST_TEST_CASE_NAME_EVAL_GENERATOR(prefix, test_case_name), \
+                      &GTEST_TEST_CASE_NAME_EVAL_GENERATOR_NAME(prefix, test_case_name), \
                       __FILE__, __LINE__)
 
 }  // namespace testing

the following code works well.

INSTANTIATE_TEST_CASE_P(InstantiationName, CLASSNAME(TestLoggingRosoutFixture, RMW_IMPLEMENTATION),
  testing::Values(
    param_t(0, nullptr, true, true),
    param_t(0, nullptr, false, false),
    param_t(s_argc, s_argv, true, false),
    param_t(s_argc, s_argv, false, false)),);

Do you think we need to update "https://github.com/ament/googletest.git" ?

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I wouldn't patch google test, as we use the upstream code.
Here is an example https://github.com/ros2/rcl/blob/master/rcl/test/rcl/test_get_actual_qos.cpp that use parameterized tests and works well in all the platforms.
It adds a little of boilerplate macros, but it works fine.

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I wouldn't patch google test, as we use the upstream code.
Here is an example https://github.com/ros2/rcl/blob/master/rcl/test/rcl/test_get_actual_qos.cpp that use parameterized tests and works well in all the platforms.
It adds a little of boilerplate macros, but it works fine.

Thanks. I will update codes again refer to that example.

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@Barry-Xu-2018 Please, check the linter failures https://ci.ros2.org/job/ci_linux/8721/testReport/.

@Barry-Xu-2018
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@Barry-Xu-2018 Please, check the linter failures https://ci.ros2.org/job/ci_linux/8721/testReport/.

Thanks. I will fix it.

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@ivanpauno

I have updated codes.
Please review again

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
Signed-off-by: Barry Xu <Barry.Xu@sony.com>
rcl/test/rcl/test_logging_rosout.cpp Outdated Show resolved Hide resolved
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ivanpauno commented Nov 27, 2019

CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status (unrelated failure)

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@Barry-Xu-2018 Please, correct the linter failure https://ci.ros2.org/job/ci_linux/8748/testReport/junit/rcl/uncrustify/test_rcl_test_logging_rosout_cpp/.


To run the tests locally you can do colcon test --event-handlers console_direct+ --packages-select rcl . And if you just want to rerun a specific test, you can add at the end --ctest-args -R __TEST_NAME__. __TEST_NAME__ can be uncrustify, cppcheck, cpplint or any other test case name.

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
@Barry-Xu-2018
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@Barry-Xu-2018 Please, correct the linter failure https://ci.ros2.org/job/ci_linux/8748/testReport/junit/rcl/uncrustify/test_rcl_test_logging_rosout_cpp/.

To run the tests locally you can do colcon test --event-handlers console_direct+ --packages-select rcl . And if you just want to rerun a specific test, you can add at the end --ctest-args -R __TEST_NAME__. __TEST_NAME__ can be uncrustify, cppcheck, cpplint or any other test case name.

Thanks for your guidance.
Code has been fixed.
Please check again.

@ivanpauno
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  • Windows Build Status

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Merging this! Thanks for the contribution and iterating on this @Barry-Xu-2018 !!

@ivanpauno ivanpauno merged commit 8cf33b3 into ros2:master Nov 29, 2019
@Barry-Xu-2018
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@ivanpauno

Thank you.

@Barry-Xu-2018
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@ivanpauno

After this is merged, it would be good to create follow-up PRs in rclcpp, rclpy.

For rclcpp, codes has been done by ros2/rclcpp#900
For rclpy, codes has been submitted to ros2/rclpy#469. Please review it.

ralph-lange pushed a commit to micro-ROS/rcl that referenced this pull request Dec 10, 2019
…os2#532)

* Add flag to enable/disable rosout logging in each node individually.

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
timonegk pushed a commit to timonegk/ros-rolling-rcl-release that referenced this pull request May 21, 2022
ros-rolling-rcl (5.3.0-1jammy) jammy; urgency=high
.
  * add content-filtered-topic interfaces (#894 <ros2/rcl#894>)
  * Contributors: Chen Lihui
.
ros-rolling-rcl (5.2.1-1jammy) jammy; urgency=high
.
  * Add additional null check for timer argument (#973 <ros2/rcl#973>)
  * Contributors: NoyZuberi
.
ros-rolling-rcl (5.2.0-1jammy) jammy; urgency=high
.
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  * test_publisher_wait_all_ack depends on rcpputils (#968 <ros2/rcl#968>)
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  * If timer canceled, rcl_timer_get_time_until_next_call returns TIMER_CANCELED (#963 <ros2/rcl#963>)
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  * Add Events Executor (#839 <ros2/rcl#839>)
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.
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ros-rolling-rcl (5.0.0-1jammy) jammy; urgency=high
.
  * Make rcl_difference_times args const (#955 <ros2/rcl#955>)
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  * test should check specified number of entities. (#935 <ros2/rcl#935>)
  * Contributors: Jafar Abdi, Scott K Logan, Shane Loretz, Tomoya Fujita
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  * Add rcl_publisher_wait_for_all_acked support. (#913 <ros2/rcl#913>)
  * Add tracing instrumentation for rcl_take. (#930 <ros2/rcl#930>)
  * Fix #include in C++ typesupport example in rcl_subscription_init docblock. (#927 <ros2/rcl#927>)
  * Update includes after rcutils/get_env.h deprecation. (#917 <ros2/rcl#917>)
  * Use proper rcl_logging return value type and compare to constant. (#916 <ros2/rcl#916>)
  * Contributors: Barry Xu, Christophe Bedard
.
ros-rolling-rcl (3.1.2-1jammy) jammy; urgency=high
.
  * Fix up test_network_flow_endpoints. (#912 <ros2/rcl#912>)
  * Contributors: Chris Lalancette
.
ros-rolling-rcl (3.1.1-1jammy) jammy; urgency=high
.
  * Make test_two_timers_ready_before_timeout less flaky (#911 <ros2/rcl#911>)
  * Add publishing instrumentation (#905 <ros2/rcl#905>)
  * Contributors: Christophe Bedard, Ivan Santiago Paunovic
.
ros-rolling-rcl (3.1.0-1jammy) jammy; urgency=high
.
  * Unique network flows (#880 <ros2/rcl#880>)
  * updating quality declaration links (re: ros2/docs.ros2.org#52 <ros2/docs.ros2.org#52>) (#909 <ros2/rcl#909>)
  * Add functions for waiting for publishers and subscribers (#907 <ros2/rcl#907>)
  * Revert "Mark cyclonedds test_service test as flakey (#648 <ros2/rcl#648>)" (#904 <ros2/rcl#904>)
  * Guard against returning NULL or empty node names (#570 <ros2/rcl#570>)
  * Contributors: Ananya Muddukrishna, Jacob Perron, Michel Hidalgo, shonigmann
.
ros-rolling-rcl (3.0.1-1jammy) jammy; urgency=high
.
  * Remove exceptions for rmw_connext_cpp tests. (#903 <ros2/rcl#903>)
  * Contributors: Chris Lalancette
.
ros-rolling-rcl (3.0.0-1jammy) jammy; urgency=high
.
.
.
ros-rolling-rcl (2.6.0-1jammy) jammy; urgency=high
.
  * Add support for rmw_connextdds (#895 <ros2/rcl#895>)
  * Put an argument list of 'void' where no arguments are expected. (#899 <ros2/rcl#899>)
  * Cleanup documentation for doxygen. (#896 <ros2/rcl#896>)
  * Contributors: Andrea Sorbini, Chris Lalancette
.
ros-rolling-rcl (2.5.2-1jammy) jammy; urgency=high
.
  * Reference test resources directly from source tree (#554 <ros2/rcl#554>)
  * Contributors: Scott K Logan
.
ros-rolling-rcl (2.5.1-1jammy) jammy; urgency=high
.
  * Re-add "Improve trigger test for graph guard condition (#811 <ros2/rcl#811>)" (#884 <ros2/rcl#884>)
  * Revert "Improve trigger test for graph guard condition (#811 <ros2/rcl#811>)" (#883 <ros2/rcl#883>)
  * Move the guard condition cleanup after removing callback. (#877 <ros2/rcl#877>)
  * Make test_subscription_nominal_string_sequence more reliable (#881 <ros2/rcl#881>)
  * Improve trigger test for graph guard condition (#811 <ros2/rcl#811>)
  * Add NULL check in remap.c (#879 <ros2/rcl#879>)
  * Contributors: Barry Xu, Chris Lalancette, Ivan Santiago Paunovic, Nikolai Morin
.
ros-rolling-rcl (2.5.0-1jammy) jammy; urgency=high
.
  * Add const to constant rcl_context functions (#872 <ros2/rcl#872>)
  * Fix another failing test on CentOS 7 (#863 <ros2/rcl#863>)
  * Update QDs to QL 1 (#866 <ros2/rcl#866>)
  * Address clang static analysis issues (#865 <ros2/rcl#865>)
  * Fix flaky test_info_by_topic (#859 <ros2/rcl#859>)
  * Update QL (#858 <ros2/rcl#858>)
  * Refactor for removing unnecessary source code (#857 <ros2/rcl#857>)
  * Clarify storing of current_time (#850 <ros2/rcl#850>)
  * Make tests in test_graph.cpp more reliable (#854 <ros2/rcl#854>)
  * Fix for external log segfault after SIGINT (#844 <ros2/rcl#844>)
  * Update tracetools QL and add to rcl_lifecycle's QD (#845 <ros2/rcl#845>)
  * Make test logging rosout more reliable (#846 <ros2/rcl#846>)
  * Return OK when finalizing zero-initialized contexts (#842 <ros2/rcl#842>)
  * Zero initialize events an size_of_events members of rcl_wait_set_t (#841 <ros2/rcl#841>)
  * Update deprecated gtest macros (#818 <ros2/rcl#818>)
  * Contributors: Alejandro Hernández Cordero, Audrow Nash, Chen Lihui, Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, Jacob Perron, Stephen Brawner, Thijs Raymakers, tomoya
.
ros-rolling-rcl (2.4.0-1jammy) jammy; urgency=high
.
  * Make sure to check the return value of rcl APIs. (#838 <ros2/rcl#838>)
  * Add convenient node method to get a final topic/service name (#835 <ros2/rcl#835>)
  * Contributors: Chris Lalancette, Ivan Santiago Paunovic
.
ros-rolling-rcl (2.3.0-1jammy) jammy; urgency=high
.
  * Remove redundant error formatting (#834 <ros2/rcl#834>)
  * Fix memory leak in rcl_subscription_init()/rcl_publisher_init() (#794 <ros2/rcl#794>)
  * Update maintainers (#825 <ros2/rcl#825>)
  * Add a semicolon to RCUTILS_LOGGING_AUTOINIT. (#816 <ros2/rcl#816>)
  * Improve error messages in rcl_lifecycle (#742 <ros2/rcl#742>)
  * Fix memory leak on serialized message in test_publisher/subscription.cpp (#801 <ros2/rcl#801>)
  * Fix memory leak because of mock test (#800 <ros2/rcl#800>)
  * Spelling correction (#798 <ros2/rcl#798>)
  * Fix that not to deallocate event impl in some failure case (#790 <ros2/rcl#790>)
  * calling fini functions to avoid memory leak (#791 <ros2/rcl#791>)
  * Contributors: Barry Xu, Chen Lihui, Chris Lalancette, Geoffrey Biggs, Ivan Santiago Paunovic, Jacob Perron, Lei Liu
.
ros-rolling-rcl (2.2.0-1jammy) jammy; urgency=high
.
  * Bump rcl arguments' API test coverage (#777 <ros2/rcl#777>)
  * Fix rcl arguments' API memory leaks and bugs (#778 <ros2/rcl#778>)
  * Add coverage tests wait module (#769 <ros2/rcl#769>)
  * Fix wait set allocation cleanup (#770 <ros2/rcl#770>)
  * Improve test coverage in rcl (#764 <ros2/rcl#764>)
  * Check if rcutils_strdup() outcome immediately (#768 <ros2/rcl#768>)
  * Cleanup rcl_get_secure_root() implementation (#762 <ros2/rcl#762>)
  * Add fault injection macros to rcl functions (#727 <ros2/rcl#727>)
  * Yield rcl_context_fini() error codes (#763 <ros2/rcl#763>)
  * Do not invalidate context before successful shutdown (#761 <ros2/rcl#761>)
  * Zero initialize guard condition on failed init (#760 <ros2/rcl#760>)
  * Adding tests to arguments API (#752 <ros2/rcl#752>)
  * Extend rcl_expand_topic_name() API test coverage (#758 <ros2/rcl#758>)
  * Add coverage tests 94% to service API (#756 <ros2/rcl#756>)
  * Clean up rcl_expand_topic_name() implementation (#757 <ros2/rcl#757>)
  * Complete rcl enclave validation API coverage (#751 <ros2/rcl#751>)
  * Cope with base function restrictions in mocks (#753 <ros2/rcl#753>)
  * Fix allocation when copying arguments (#748 <ros2/rcl#748>)
  * Complete rcl package's logging API test coverage (#747 <ros2/rcl#747>)
  * Improve coverage to 95% in domain id, init option, rmw implementation id and log level modules (#744 <ros2/rcl#744>)
  * Fix rcl package's logging API error code documentation and handling (#746 <ros2/rcl#746>)
  * Fix bug error handling in get_param_files (#743 <ros2/rcl#743>)
  * Complete subscription API test coverage (#734 <ros2/rcl#734>)
  * increase timeouts in test_services fixtures for Connext (#745 <ros2/rcl#745>)
  * Tweaks to client.c and subscription.c for cleaner init/fini (#728 <ros2/rcl#728>)
  * Improve error checking and handling in subscription APIs (#739 <ros2/rcl#739>)
  * Add deallocate calls to free strdup allocated memory (#737 <ros2/rcl#737>)
  * Add missing calls to rcl_convert_rmw_ret_to_rcl_ret (#738 <ros2/rcl#738>)
  * Add mock tests, publisher 95% coverage (#732 <ros2/rcl#732>)
  * Restore env variables set in the test_failing_configuration. (#733 <ros2/rcl#733>)
  * Expose qos setting for /rosout (#722 <ros2/rcl#722>)
  * Reformat rmw_impl_id_check to call a testable function (#725 <ros2/rcl#725>)
  * Add extra check for invalid event implementation (#726 <ros2/rcl#726>)
  * Consolidate macro duplication (#653 <ros2/rcl#653>)
  * Contributors: Ada-King, Dan Rose, Dirk Thomas, Jorge Perez, Michel Hidalgo, brawner, tomoya
.
ros-rolling-rcl (2.1.0-1jammy) jammy; urgency=high
.
  * Add test for subscription message lost event (#705 <ros2/rcl#705>)
  * Add function rcl_event_is_valid (#720 <ros2/rcl#720>)
  * Move actual domain id from node to context (#718 <ros2/rcl#718>)
  * Removed doxygen warnings (#712 <ros2/rcl#712>)
  * Remove some dead code.
  * Make sure to call rcl_arguments_fini at the end of the test.
  * Add remap needed null check (#711 <ros2/rcl#711>)
  * Make public init/fini rosout publisher (#704 <ros2/rcl#704>)
  * Move rcl_remap_copy to public header (#709 <ros2/rcl#709>)
  * Contributors: Alejandro Hernández Cordero, Chris Lalancette, Ivan Santiago Paunovic, Jorge Perez
.
ros-rolling-rcl (2.0.0-1jammy) jammy; urgency=high
.
  * Implement a generic way to change logging levels (#664 <ros2/rcl#664>)
  * Remove domain_id and localhost_only from node_options (#708 <ros2/rcl#708>)
  * Add coverage tests (#703 <ros2/rcl#703>)
  * Add bad arguments tests for coverage (#698 <ros2/rcl#698>)
  * Remove unused internal prototypes (#699 <ros2/rcl#699>)
  * Update quality declaration and coverage (#674 <ros2/rcl#674>)
  * Add setter and getter for domain_id in rcl_init_options_t (#678 <ros2/rcl#678>)
  * Remove unused pytest dependency from rcl. (#695 <ros2/rcl#695>)
  * Fix link to latest API docs (#692 <ros2/rcl#692>)
  * Keep domain id if ROS_DOMAIN_ID is invalid. (#689 <ros2/rcl#689>)
  * Remove unused check context.c (#691 <ros2/rcl#691>)
  * Add check rcl_node_options_copy invalid out (#671 <ros2/rcl#671>)
  * Update tracetools' QL to 2 in rcl's QD (#690 <ros2/rcl#690>)
  * Improve subscription coverage (#681 <ros2/rcl#681>)
  * Improve rcl timer test coverage (#680 <ros2/rcl#680>)
  * Improve wait sets test coverage (#683 <ros2/rcl#683>)
  * Contributors: Alejandro Hernández Cordero, Chen Lihui, Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, Jorge Perez, Michel Hidalgo, tomoya
.
ros-rolling-rcl (1.2.0-1jammy) jammy; urgency=high
.
  * Improve rcl init test coverage. (#684 <ros2/rcl#684>)
  * Improve clock test coverage. (#685 <ros2/rcl#685>)
  * Add message lost event (#673 <ros2/rcl#673>)
  * Minor fixes to rcl clock implementation. (#688 <ros2/rcl#688>)
  * Improve enclave validation test coverage. (#682 <ros2/rcl#682>)
  * Use RCL_RET_* codes only. (#686 <ros2/rcl#686>)
  * Fixed doxygen warnings (#677 <ros2/rcl#677>)
  * Add tests for rcl package (#668 <ros2/rcl#668>)
  * Remove logging_external_interface.h, provided by rcl_logging_interface package now (#676 <ros2/rcl#676>)
  * Print RCL_LOCALHOST_ENV_VAR if error happens via rcutils_get_env. (#672 <ros2/rcl#672>)
  * Contributors: Alejandro Hernández Cordero, Chris Lalancette, Ivan Santiago Paunovic, Jorge Perez, Michel Hidalgo, tomoya
.
ros-rolling-rcl (1.1.5-1jammy) jammy; urgency=high
.
  * Fix conversions between rmw_localhost_only_t and bool (#670 <ros2/rcl#670>)
  * Contributors: Jorge Perez
.
ros-rolling-rcl (1.1.4-1jammy) jammy; urgency=high
.
  * Ensure rcl_publisher_init() fails safely (#667 <ros2/rcl#667>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rcl (1.1.3-1jammy) jammy; urgency=high
.
  * Add Security Vulnerability Policy pointing to REP-2006 (#661 <ros2/rcl#661>)
  * Add tests to publisher and init modules of rcl (#657 <ros2/rcl#657>)
  * Contributors: Chris Lalancette, Jorge Perez
.
ros-rolling-rcl (1.1.2-1jammy) jammy; urgency=high
.
  * Improve docblocks (#659 <ros2/rcl#659>)
  * Contributors: Alejandro Hernández Cordero
.
ros-rolling-rcl (1.1.1-1jammy) jammy; urgency=high
.
.
.
ros-rolling-rcl (1.1.0-1jammy) jammy; urgency=high
.
  * Expose rcl default logging output handler (#660 <ros2/rcl#660>)
  * Remove deprecated functions (#658 <ros2/rcl#658>)
  * Warn about unused return value for set_logger_level (#652 <ros2/rcl#652>)
  * Mark cyclonedds test_service test as flakey (#648 <ros2/rcl#648>)
  * Convert sleep_for into appropriate logic in tests(#631 <ros2/rcl#631>)
  * Reduce timeouts in tests(#613 <ros2/rcl#613>)
  * Add tests for time.c and timer.c (#599 <ros2/rcl#599>)
  * Update Quality Declaration for 1.0 (#647 <ros2/rcl#647>)
  * Contributors: Barry Xu, Dirk Thomas, Ivan Santiago Paunovic, Jorge Perez, Tully Foote, brawner
.
ros-rolling-rcl (1.0.0-1jammy) jammy; urgency=high
.
  * Remove MANUAL_BY_NODE liveliness API (#645 <ros2/rcl#645>)
  * Make test_two_timers* more reliable (#640 <ros2/rcl#640>)
  * Contributors: Ivan Santiago Paunovic
.
ros-rolling-rcl (0.9.1-1jammy) jammy; urgency=high
.
  * Included features (#644 <ros2/rcl#644>)
  * Current state Quality Declaration (#639 <ros2/rcl#639>)
  * Initialize service timestamps to 0 and test. (#642 <ros2/rcl#642>)
  * Contributors: Alejandro Hernández Cordero, Ingo Lütkebohle, Jorge Perez
.
ros-rolling-rcl (0.9.0-1jammy) jammy; urgency=high
.
  * Fix std::string construction in test (#636 <ros2/rcl#636>)
  * Add basic functionality tests for validate_enclave_name and subscription (#624 <ros2/rcl#624>)
  * Save allocator for RCL_CLOCK_UNINITIALIZED clock (#623 <ros2/rcl#623>)
  * Implement service info structure with timestamps (#627 <ros2/rcl#627>)
  * Add support for taking a sequence of messages (#614 <ros2/rcl#614>)
  * Message info with timestamps support in rcl (#619 <ros2/rcl#619>)
  * Don't call ``rcl_logging_configure/rcl_logging_fini`` in ``rcl_init/rcl_shutdown`` (#579 <ros2/rcl#579>)
  * Export targets in a addition to include directories / libraries (#629 <ros2/rcl#629>)
  * Document rcl_pub/etc_fini() must come before rcl_node_fini() (#625 <ros2/rcl#625>)
  * Update security environment variables (#617 <ros2/rcl#617>)
  * Add visibility to rcl_timer_get_allocator (#610 <ros2/rcl#610>)
  * Fix test_publisher memory leaks reported by asan (#567 <ros2/rcl#567>)
  * security-context -> enclave (#612 <ros2/rcl#612>)
  * Rename rosidl_generator_c namespace to rosidl_runtime_c (#616 <ros2/rcl#616>)
  * Rename rosidl_generator_cpp namespace to rosidl_runtime_cpp (#615 <ros2/rcl#615>)
  * Fix security directory lookup for '/' security contexts (#609 <ros2/rcl#609>)
  * Changed rosidl_generator_c/cpp to rosidl_runtime_c/cpp (#588 <ros2/rcl#588>)
  * Remove deprecated CLI rules (#603 <ros2/rcl#603>)
  * Use keystore root as security root directory, and not contexts folder (#607 <ros2/rcl#607>)
  * Remove tinydir_vendor dependency (#608 <ros2/rcl#608>)
  * Add missing allocator check for NULL (#606 <ros2/rcl#606>)
  * Change naming style for private functions (#597 <ros2/rcl#597>)
  * Switch to one Participant per Context (#515 <ros2/rcl#515>)
  * Support for ON_REQUESTED_INCOMPATIBLE_QOS and ON_OFFERED_INCOMPATIBLE_QOS events (#535 <ros2/rcl#535>)
  * Small typo fix (#604 <ros2/rcl#604>)
  * Update docstring with new possible return code (#600 <ros2/rcl#600>)
  * Add missing node destruction (#601 <ros2/rcl#601>)
  * Test that nodes are returned with correct multiplicity (#598 <ros2/rcl#598>)
  * Trigger guard condition when timer is reset (#589 <ros2/rcl#589>)
  * Clock API improvements (#580 <ros2/rcl#580>)
  * Fix memory leak in rcl_arguments (#564 <ros2/rcl#564>)
  * Don't check history depth if RMW_QOS_POLICY_HISTORY_KEEP_ALL (#593 <ros2/rcl#593>)
  * Fix alloc-dealloc-mismatch(new->free) in test_info_by_topic (#469 <ros2/rcl#469>) (#569 <ros2/rcl#569>)
  * Use 10sec lifespan in rosout publisher qos (#587 <ros2/rcl#587>)
  * Document clock types (#578 <ros2/rcl#578>)
  * Make rosout publisher transient local with a depth of 1000 (#582 <ros2/rcl#582>)
  * Enable TestInfoByTopicFixture unit tests for other rmw_implementations (#583 <ros2/rcl#583>)
  * Fix memory leak in test_subscription_nominal (#469 <ros2/rcl#469>) (#562 <ros2/rcl#562>)
  * Update rmw_topic_endpoint_info_array usage (#576 <ros2/rcl#576>)
  * Add rcl versions of rmw_topic_endpoint_info* types (#558 <ros2/rcl#558>)
  * Enable test for rcl_get_subscriptions_info_by_topic / rcl_get_publishers_info_by_topic for Cyclone (#572 <ros2/rcl#572>)
  * Fixed missing initialization and fixed qos checking in test (#571 <ros2/rcl#571>)
  * Fix test_count_matched memory leaks reported by asan #567 <ros2/rcl#567> (#568 <ros2/rcl#568>)
  * Code style only: wrap after open parenthesis if not in one line (#565 <ros2/rcl#565>)
  * Fix return type of rcl_publisher_get_subscription_count() (#559 <ros2/rcl#559>)
  * Fix doc strings (#557 <ros2/rcl#557>)
  * Implement functions to get publisher and subcription informations like QoS policies from topic name (#511 <ros2/rcl#511>)
  * Use absolute topic name for ``rosout`` (#549 <ros2/rcl#549>)
  * Set allocator before goto fail (#546 <ros2/rcl#546>)
  * Add public facing API for validating rcl_wait_set_t (#538 <ros2/rcl#538>)
  * Add flag to enable/disable rosout logging in each node individually. (#532 <ros2/rcl#532>)
  * Treat __name the same as __node (#494 <ros2/rcl#494>)
  * Contributors: Alejandro Hernández Cordero, Barry Xu, Chris Lalancette, Dan Rose, Dennis Potman, Dirk Thomas, DongheeYe, Ingo Lütkebohle, Ivan Santiago Paunovic, Jacob Perron, Jaison Titus, Jorge Perez, Miaofei Mei, Michael Carroll, Michel Hidalgo, Mikael Arguedas, P. J. Reed, Ruffin, Shane Loretz, William Woodall, y-okumura-isp
.
ros-rolling-rcl (0.8.3-1jammy) jammy; urgency=high
.
  * Support CLI parameter overrides using dots instead of slashes. (#530 <ros2/rcl#530>)
    Signed-off-by: Michel Hidalgo <mailto:michel@ekumenlabs.com>
  * Contributors: Michel Hidalgo
.
ros-rolling-rcl (0.8.2-1jammy) jammy; urgency=high
.
  * Remove the prototype from rcl_impl_getenv. (#525 <ros2/rcl#525>)
  * Use return_loaned_message_from (#523 <ros2/rcl#523>)
  * Avoid ready_fn and self.proc_info (#522 <ros2/rcl#522>)
  * Add localhost option to node creation (#520 <ros2/rcl#520>)
  * Add initial instrumentation (#473 <ros2/rcl#473>)
  * Zero copy api (#506 <ros2/rcl#506>)
  * Don't create rosout publisher instance unless required. (#514 <ros2/rcl#514>)
  * Handle zero non-ROS specific args properly in rcl_remove_ros_arguments (#518 <ros2/rcl#518>)
  * Update rcl_node_init docstring (#517 <ros2/rcl#517>)
  * Remove vestigial references to rcl_ok() (#516 <ros2/rcl#516>)
  * Add mechanism to pass rmw impl specific payloads during pub/sub creation (#513 <ros2/rcl#513>)
  * Contributors: Brian Marchi, Chris Lalancette, Ingo Lütkebohle, Jacob Perron, Karsten Knese, Michel Hidalgo, Peter Baughman, William Woodall, tomoya
.
ros-rolling-rcl (0.8.1-1jammy) jammy; urgency=high
.
  * Switch the default logging implementation to spdlog.
  * Contributors: Chris Lalancette
.
ros-rolling-rcl (0.8.0-1jammy) jammy; urgency=high
.
  * Delete rcl_impl_getenv, replaced by rcutils_get_env (#502 <ros2/rcl#502>)
  * Parse CLI parameters and YAML files (#508 <ros2/rcl#508>)
  * Add specific return code for non existent node (#492 <ros2/rcl#492>)
  * Add node name and namespace validation to graph functions (#499 <ros2/rcl#499>)
  * Bring back deprecated CLI arguments (#496 <ros2/rcl#496>)
  * Polish rcl arguments implementation (#497 <ros2/rcl#497>)
  * Uncoment some test_graph test cases after fix in rmw_fastrtps (ros2/rmw_fastrtps#316 <ros2/rmw_fastrtps#316>) (#498 <ros2/rcl#498>)
  * Promote special CLI rules to flags (#495 <ros2/rcl#495>)
  * Fail fast on invalid ROS arguments (#493 <ros2/rcl#493>)
  * Enforce -r/--remap flags. (#491 <ros2/rcl#491>)
  * Support parameter overrides and remap rules flags on command line (#483 <ros2/rcl#483>)
  * Allow get_node_names to return result in any order (#488 <ros2/rcl#488>)
  * rosout init and fini marked as RCL_PUBLIC (#479 <ros2/rcl#479>)
  * included header in logging_rosout.c (#478 <ros2/rcl#478>)
  * Migrate to '--ros-args ... [--]'-based ROS args extraction (#477 <ros2/rcl#477>)
  * Improve security error messages  (#480 <ros2/rcl#480>)
  * Add function for getting clients by node (#459 <ros2/rcl#459>)
  * Remove special case check for manual_by_node for rmw_fastrtps (#467 <ros2/rcl#467>)
  * Fix memory leak of 56 bytes in test_graph
  * Change tests to try MANUAL_BY_TOPIC liveliness for FastRTPS (#465 <ros2/rcl#465>)
  * Implement get_actual_qos() for subscriptions (#455 <ros2/rcl#455>)
  * Log warning when remapping to an invalid node name (#454 <ros2/rcl#454>)
  * Use size_t printf format for size_t variable (#453 <ros2/rcl#453>)
  * Contributors: Alberto Soragna, Emerson Knapp, Jacob Perron, M. M, Michel Hidalgo, Mikael Arguedas, Víctor Mayoral Vilches, eboasson, ivanpauno
.
ros-rolling-rcl (0.7.4-1jammy) jammy; urgency=high
.
  * Fix tests now that FastRTPS correctly reports that liveliness is not supported (#452 <ros2/rcl#452>)
  * In test_events, wait for discovery to be complete bidirectionally before moving on (#451 <ros2/rcl#451>)
  * fix leak in test_service (#447 <ros2/rcl#447>)
  * fix leak in test_guard_condition (#446 <ros2/rcl#446>)
  * fix leak in test_get_actual_qos (#445 <ros2/rcl#445>)
  * fix leak in test_expand_topic_name (#444 <ros2/rcl#444>)
  * Contributors: Abby Xu, Emerson Knapp
.
ros-rolling-rcl (0.7.3-1jammy) jammy; urgency=high
.
  * Fixed memory leak in ``test_client`` (#443 <ros2/rcl#443>)
  * Fixed memory leaks in ``test_wait.cpp`` (#439 <ros2/rcl#439>)
  * Fixed memory leak in ``test_context`` (#441 <ros2/rcl#441>)
  * Fixed memory leak in ``test_init`` (#440 <ros2/rcl#440>)
  * Enabled rcl ``test_events`` unit tests on macOS (#433 <ros2/rcl#433>)
  * Enabled deadline tests for FastRTPS (#438 <ros2/rcl#438>)
  * Corrected use of ``launch_testing.assert.assertExitCodes`` (#437 <ros2/rcl#437>)
  * Reverted "Changes the default 3rd party logger from rcl_logging_noop to… (#436 <ros2/rcl#436>)
  * Fixed memory leaks in ``test_security_directory`` (#420 <ros2/rcl#420>)
  * Fixed a memory leak in rcl context fini (#434 <ros2/rcl#434>)
  * Contributors: Abby Xu, Cameron Evans, Chris Lalancette, Dirk Thomas, M. M, ivanpauno
.
ros-rolling-rcl (0.7.2-1jammy) jammy; urgency=high
.
  * Changes the default 3rd party logger from rcl_logging_noop to rcl_logging_log4cxx (#425 <ros2/rcl#425>)
  * fix leak in node.c (#424 <ros2/rcl#424>)
  * Add new RCL_RET_UNSUPPORTED (#432 <ros2/rcl#432>)
  * New interfaces and their implementations for QoS features (#408 <ros2/rcl#408>)
  * Add an allocator to the external logging initialization. (#430 <ros2/rcl#430>)
  * fix buffer overflow in test_security_dir (#423 <ros2/rcl#423>)
  * Rmw preallocate (#428 <ros2/rcl#428>)
  * Use new test interface definitions (#427 <ros2/rcl#427>)
  * Migrate launch tests to new launch_testing features & API (#405 <ros2/rcl#405>)
  * Fix argument passed to logging macros (#421 <ros2/rcl#421>)
  * Make sure to initialize the bool field. (#426 <ros2/rcl#426>)
  * Contributors: Abby Xu, Chris Lalancette, Emerson Knapp, Jacob Perron, M. M, Michael Carroll, Michel Hidalgo, Nick Burek, Thomas Moulard
.
ros-rolling-rcl (0.7.1-1jammy) jammy; urgency=high
.
  * Replaced reinterperet_cast with static_cast. (#410 <ros2/rcl#410>)
  * Fixed leak in __wait_set_clean_up. (#418 <ros2/rcl#418>)
  * Updated initialization of rmw_qos_profile_t struct instances. (#416 <ros2/rcl#416>)
  * Contributors: Dirk Thomas, M. M, jhdcs
.
ros-rolling-rcl (0.7.0-1jammy) jammy; urgency=high
.
  * Added more test cases for graph API + fix bug. (#404 <ros2/rcl#404>)
  * Fixed missing include. (#413 <ros2/rcl#413>)
  * Updated to use pedantic. (#412 <ros2/rcl#412>)
  * Added function to get publisher actual qos settings. (#406 <ros2/rcl#406>)
  * Refactored graph API docs. (#401 <ros2/rcl#401>)
  * Updated to use ament_target_dependencies where possible. (#400 <ros2/rcl#400>)
  * Fixed regression around fully qualified node name. (#402 <ros2/rcl#402>)
  * Added function rcl_names_and_types_init. (#403 <ros2/rcl#403>)
  * Fixed uninitialize sequence number of client. (#395 <ros2/rcl#395>)
  * Added launch along with launch_testing as test dependencies. (#393 <ros2/rcl#393>)
  * Set symbol visibility to hidden for rcl. (#391 <ros2/rcl#391>)
  * Updated to split test_token to avoid compiler note. (#392 <ros2/rcl#392>)
  * Dropped legacy launch API usage. (#387 <ros2/rcl#387>)
  * Improved security directory lookup. (#332 <ros2/rcl#332>)
  * Enforce non-null argv values on rcl_init(). (#388 <ros2/rcl#388>)
  * Removed incorrect argument documentation. (#361 <ros2/rcl#361>)
  * Changed error to warning for multiple loggers. (#384 <ros2/rcl#384>)
  * Added rcl_node_get_fully_qualified_name. (#255 <ros2/rcl#255>)
  * Updated rcl_remap_t to use the PIMPL pattern. (#377 <ros2/rcl#377>)
  * Fixed documentation typo. (#376 <ros2/rcl#376>)
  * Removed test circumvention now that a bug is fixed in rmw_opensplice. (#368 <ros2/rcl#368>)
  * Updated to pass context to wait set, and fini rmw context. (#373 <ros2/rcl#373>)
  * Updated to publish logs to Rosout. (#350 <ros2/rcl#350>)
  * Contributors: AAlon, Dirk Thomas, Jacob Perron, M. M, Michael Carroll, Michel Hidalgo, Mikael Arguedas, Nick Burek, RARvolt, Ross Desmond, Sachin Suresh Bhat, Shane Loretz, William Woodall, ivanpauno
.
ros-rolling-rcl (0.6.4-1jammy) jammy; urgency=high
.
  * Added method for accessing rmw_context from rcl_context (#372 <ros2/rcl#372>)
  * Added guard against bad allocation when calling rcl_arguments_copy() (#367 <ros2/rcl#367>)
  * Updated to ensure that context instance id storage is aligned correctly (#365 <ros2/rcl#365>)
  * Fixed error from uncrustify v0.68 (#364 <ros2/rcl#364>)
  * Contributors: Jacob Perron, William Woodall, sgvandijk
.
ros-rolling-rcl (0.6.3-1jammy) jammy; urgency=high
.
  * Set rmw_wait timeout using ros timers too (#357 <ros2/rcl#357>)
  * Contributors: Shane Loretz
.
ros-rolling-rcl (0.6.2-1jammy) jammy; urgency=high
.
  * Updated docs about possibility of rcl_take not taking (#356 <ros2/rcl#356>)
  * Bugfix: ensure NULL timeout is passed to rmw_wait() when min_timeout is not set
    Otherwise, there is a risk of integer overflow (e.g. in rmw_fastrtps) and rmw_wait() will wake immediately.
  * Contributors: Jacob Perron, William Woodall
.
ros-rolling-rcl (0.6.1-1jammy) jammy; urgency=high
.
  * Added new cli parameters for configuring the logging. (#327 <ros2/rcl#327>)
  * Added node graph api to rcl. (#333 <ros2/rcl#333>)
  * Fixed compiler warning in clang (#345 <ros2/rcl#345>)
  * Refactored init to not be global (#336 <ros2/rcl#336>)
  * Methods to retrieve matched counts on pub/sub. (#326 <ros2/rcl#326>)
  * Updated to output index in container when adding an entity to a wait set. (#335 <ros2/rcl#335>)
  * Contributors: Jacob Perron, Michael Carroll, Nick Burek, Ross Desmond, William Woodall
.
ros-rolling-rcl (0.6.0-1jammy) jammy; urgency=high
.
  * Updated to expand node_secure_root using local_namespace (#300 <ros2/rcl#300>)
  * Moved stdatomic helper to rcutils (#324 <ros2/rcl#324>)
  * Added subfolder argument to the ROSIDL_GET_SRV_TYPE_SUPPORT macro (#322 <ros2/rcl#322>)
  * Updated to use new error handling API from rcutils (#314 <ros2/rcl#314>)
  * Fixed minor documentation issues (#305 <ros2/rcl#305>)
  * Added macro semicolons (#303 <ros2/rcl#303>)
  * Added Rcl timer with ros time (#286 <ros2/rcl#286>)
  * Updated to ensure that timer period is non-negative (#295 <ros2/rcl#295>)
  * Fixed calculation of next timer call (#291 <ros2/rcl#291>)
  * Updated to null deallocated jump callbacks (#294 <ros2/rcl#294>)
  * Included namespaces in get_node_names. (#287 <ros2/rcl#287>)
  * Fixed documentation issues (#288 <ros2/rcl#288>)
  * Updated to check if pointers are null before calling memset (#290 <ros2/rcl#290>)
  * Added multiple time jump callbacks to clock (#284 <ros2/rcl#284>)
  * Consolidated wait set functions (#285 <ros2/rcl#285>)
    * Consolidate functions to clear wait set
    Added rcl_wait_set_clear()
    Added rcl_wait_set_resize()
    Removed
    rcl_wait_set_clear_subscriptions()
    rcl_wait_set_clear_guard_conditions()
    rcl_wait_set_clear_clients()
    rcl_wait_set_clear_services()
    rcl_wait_set_clear_timers()
    rcl_wait_set_resize_subscriptions()
    rcl_wait_set_resize_guard_conditions()
    rcl_wait_set_resize_timers()
    rcl_wait_set_resize_clients()
    rcl_wait_set_resize_services()
  * ROS clock storage initially set to zero (#283 <ros2/rcl#283>)
  * Fixed issue with deallocation of parameter_files (#279 <ros2/rcl#279>)
  * Update to initialize memory before sending a message (#277 <ros2/rcl#277>)
  * Set error message when clock type is not ROS_TIME (#275 <ros2/rcl#275>)
  * Copy allocator passed in to clock init (#274 <ros2/rcl#274>)
  * Update to initialize timer with clock (#272 <ros2/rcl#272>)
  * Updated to use test_msgs instead of std_msgs in tests (#270 <ros2/rcl#270>)
  * Added regression test for node:__ns remapping (#263 <ros2/rcl#263>)
  * Updated to support Uncrustify 0.67 (#266 <ros2/rcl#266>)
  * Contributors: Chris Lalancette, Chris Ye, Dirk Thomas, Jacob Perron, Michael Carroll, Mikael Arguedas, Ruffin, Shane Loretz, William Woodall, dhood
.
ros-rolling-rcl (0.5.0-1jammy) jammy; urgency=high
.
  * Updated code to only use ``rcutils_allocator_t`` and not use system memory functions directly. (#261 <ros2/rcl#261>)
  * Changed code to use ``rcutils_format_string()`` rather than ``malloc`` and ``rcutils_snprintf()`` (#240 <ros2/rcl#240>)
  * Added functions for dealing with serialized messages. (#170 <ros2/rcl#170>)
  * Updated to use ``test_msgs`` instead of ``example_interfaces``. (#259 <ros2/rcl#259>)
  * Added regression test for the Connext specific 'wrong type writer' error. (#257 <ros2/rcl#257>)
  * Added the ability to set the default logger level from command line. (#256 <ros2/rcl#256>)
  * Refactored the ``memory_tools`` testing API to ``osrf_testing_tools_cpp`` (#238 <ros2/rcl#238>)
  * Added support for passing YAML parameter files via the command line arguments.  (#253 <ros2/rcl#253>)
  * Migrated existing uses of ``launch`` to use the same API in it's new API ``launch.legacy``. (#250 <ros2/rcl#250>)
  * Added a printed warning if non-FQN namespace remapping is passed. (#248 <ros2/rcl#248>)
  * Made some changes toward MISRA C compliance. (#229 <ros2/rcl#229>)
  * Changed ``rcl_node_init()`` so that it now copies node options passed into it (#231 <ros2/rcl#231>)
  * Fixed some memory leaks in ``test_arguments`` (#230 <ros2/rcl#230>)
  * Extended static remapping feature with support for the url scheme (#227 <ros2/rcl#227>)
  * Made a change to force ``rcl_arguments_t`` to be zero initialized. (#225 <ros2/rcl#225>)
  * Updated documentation for ``rmw_get_node_names()`` to mention the potential for null values (#214 <ros2/rcl#214>)
  * Fix an issue with signed time difference. (#224 <ros2/rcl#224>)
  * Changed library export order to fix static linking (#216 <ros2/rcl#216>)
  * Implemented static remapping over command line arguments (#217 <ros2/rcl#217> and #221 <ros2/rcl#221>)
  * Added a sized validation function for the topic name as ``rcl_validate_topic_name_with_size()`` (#220 <ros2/rcl#220>)
  * Added a logger name and stored it in the rcl node structure (#212 <ros2/rcl#212>)
  * Changed ``rcutils_time_point_value_t`` type from ``uint64_t`` to ``int64_t`` (#208 <ros2/rcl#208>)
  * Fixed a potential bug by resetting the ``RMWCount`` when using the ``DEALLOC`` macro on rmw storage of a wait set (#209 <ros2/rcl#209> and #211 <ros2/rcl#211>)
    * Signed-off-by: jwang <mailto:jing.j.wang@intel.com>
  * Fixed a potential bug by resetting ``wait_set`` type index in the ``SET_RESIZE`` macro (#207 <ros2/rcl#207>)
    * Signed-off-by: jwang <mailto:jing.j.wang@intel.com>
  * Removed a slash behind ``SET_CLEAR`` MACRO (#206 <ros2/rcl#206>)
    * Signed-off-by: jwang <mailto:jing.j.wang@intel.com>
  * Changed rmw result validation string to not ever return nullptr (#193 <ros2/rcl#193>)
    * Signed-off-by: Ethan Gao <mailto:ethan.gao@linux.intel.com>
  * Clarified that ``rcl_take_response()`` populates the ``request_header`` (#205 <ros2/rcl#205>)
  * Removed a now obsolete connext workaround (#203 <ros2/rcl#203>)
  * Fixed a potential segmentation fault due to a nullptr dereference (#202 <ros2/rcl#202>)
    * Signed-off-by: Ethan Gao <mailto:ethan.gao@linux.intel.com>
  * Contributors: Dirk Thomas, Ethan Gao, Karsten Knese, Michael Carroll, Mikael Arguedas, Shane Loretz, William Woodall, dhood, jwang11, serge-nikulin
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