Introduce rclcpp_components to implement composition (#665)

* Introduce rclcpp_components package

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Keep pointer to NodeWrapper vs NodeInterface.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Remove component registration from rclcpp

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Make topics names private-prefix.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Handle name and namespace with remap rules.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Linting.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Address reviewer feedback.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Change to smart pointers for managing memory.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Update to use rcpputils filesystem/split.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Address reviewer feedback and add docs.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Add tests around ComponentManager.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Lint.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Address reviewer feedback and add overflow check.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

* Fix CI.

Signed-off-by: Michael Carroll <michael@openrobotics.org>

rclcpp/CMakeLists.txt

@@ -432,14 +432,7 @@ if(BUILD_TESTING)
   endif()
 endif()
 
-ament_package(
-  CONFIG_EXTRAS rclcpp-extras.cmake
-)
-
-install(
-  DIRECTORY cmake
-  DESTINATION share/${PROJECT_NAME}
-)
+ament_package()
 
 install(
   DIRECTORY include/ ${CMAKE_CURRENT_BINARY_DIR}/include/

rclcpp_components/CMakeLists.txt

@@ -0,0 +1,122 @@
+cmake_minimum_required(VERSION 3.5)
+
+project(rclcpp_components)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake_ros REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+find_package(class_loader REQUIRED)
+find_package(composition_interfaces REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rcpputils REQUIRED)
+
+include_directories(include)
+
+add_library(
+  component_manager
+  STATIC
+  src/component_manager.cpp
+)
+ament_target_dependencies(component_manager
+  "ament_index_cpp"
+  "class_loader"
+  "composition_interfaces"
+  "rclcpp"
+  "rcpputils"
+)
+
+add_executable(
+  component_container
+  src/component_container.cpp
+)
+target_link_libraries(component_container component_manager)
+ament_target_dependencies(component_container
+  "rclcpp"
+)
+
+add_executable(
+  component_container_mt
+  src/component_container_mt.cpp
+)
+target_link_libraries(component_container_mt component_manager)
+ament_target_dependencies(component_container_mt
+  "rclcpp"
+)
+
+if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
+  target_link_libraries(component_container "stdc++fs")
+  target_link_libraries(component_container_mt "stdc++fs")
+endif()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+
+  set(components "")
+  add_library(test_component SHARED test/components/test_component.cpp)
+  ament_target_dependencies(test_component
+    "class_loader"
+    "rclcpp"
+    "rclcpp_components")
+  #rclcpp_components_register_nodes(test_component "test_rclcpp_components::TestComponent")
+  set(components "${components}test_rclcpp_components::TestComponentFoo;$<TARGET_FILE:test_component>\n")
+  set(components "${components}test_rclcpp_components::TestComponentBar;$<TARGET_FILE:test_component>\n")
+  set(components "${components}test_rclcpp_components::TestComponentNoNode;$<TARGET_FILE:test_component>\n")
+
+  file(GENERATE
+    OUTPUT
+    "${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$<CONFIG>/share/ament_index/resource_index/rclcpp_components/${PROJECT_NAME}"
+    CONTENT "${components}")
+
+  set(append_library_dirs "${CMAKE_CURRENT_BINARY_DIR}")
+  if(WIN32)
+    set(append_library_dirs "${append_library_dirs}/$<CONFIG>")
+  endif()
+
+  ament_add_gtest(test_component_manager test/test_component_manager.cpp
+    APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$<CONFIG>
+    APPEND_LIBRARY_DIRS "${append_library_dirs}")
+  if(TARGET test_component_manager)
+    target_link_libraries(test_component_manager component_manager)
+    target_include_directories(test_component_manager PRIVATE src)
+  endif()
+
+  ament_add_gtest(test_component_manager_api test/test_component_manager_api.cpp
+    APPEND_ENV AMENT_PREFIX_PATH=${CMAKE_CURRENT_BINARY_DIR}/test_ament_index/$<CONFIG>
+    APPEND_LIBRARY_DIRS "${append_library_dirs}")
+  if(TARGET test_component_manager_api)
+    target_link_libraries(test_component_manager_api component_manager)
+    target_include_directories(test_component_manager_api PRIVATE src)
+  endif()
+endif()
+
+# Install executables
+install(
+  TARGETS component_container component_container_mt
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install include directories
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+# Install cmake
+install(
+  DIRECTORY cmake
+  DESTINATION share/${PROJECT_NAME}
+)
+
+# specific order: dependents before dependencies
+ament_export_include_directories(include)
+ament_export_dependencies(class_loader)
+ament_export_dependencies(rclcpp)
+ament_package(CONFIG_EXTRAS rclcpp_components-extras.cmake)

rclcpp/cmake/rclcpp_package_hook.cmake → rclcpp_components/cmake/rclcpp_components_package_hook.cmake

@@ -1,4 +1,4 @@
-# Copyright 2016 Open Source Robotics Foundation, Inc.
+# Copyright 2019 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -14,4 +14,5 @@
 
 # register node plugins
 ament_index_register_resource(
-  "node_plugin" CONTENT "${_RCLCPP__NODE_PLUGINS}")
+  "rclcpp_components" CONTENT "${_RCLCPP_COMPONENTS__NODES}")
+

rclcpp/cmake/rclcpp_register_node_plugins.cmake → rclcpp_components/cmake/rclcpp_components_register_nodes.cmake

@@ -1,4 +1,4 @@
-# Copyright 2016 Open Source Robotics Foundation, Inc.
+# Copyright 2019 Open Source Robotics Foundation, Inc.
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -13,38 +13,38 @@
 # limitations under the License.
 
 #
-# Register a node plugin with the ament resource index.
+# Register an rclcpp component with the ament resource index.
 #
-# The passed library can contain multiple plugins extending the node interface.
+# The passed library can contain multiple nodes each registered via macro.
 #
 # :param target: the shared library target
 # :type target: string
 # :param ARGN: the unique plugin names being exported using class_loader
 # :type ARGN: list of strings
 #
-macro(rclcpp_register_node_plugins target)
+macro(rclcpp_components_register_nodes target)
   if(NOT TARGET ${target})
     message(
       FATAL_ERROR
-      "rclcpp_register_node_plugins() first argument "
+      "rclcpp_components_register_nodes() first argument "
       "'${target}' is not a target")
   endif()
   get_target_property(_target_type ${target} TYPE)
   if(NOT _target_type STREQUAL "SHARED_LIBRARY")
     message(
       FATAL_ERROR
-      "rclcpp_register_node_plugins() first argument "
+      "rclcpp_components_register_nodes() first argument "
       "'${target}' is not a shared library target")
   endif()
 
   if(${ARGC} GREATER 0)
-    _rclcpp_register_package_hook()
+    _rclcpp_components_register_package_hook()
     set(_unique_names)
     foreach(_arg ${ARGN})
       if(_arg IN_LIST _unique_names)
         message(
           FATAL_ERROR
-          "rclcpp_register_node_plugins() the plugin names "
+          "rclcpp_components_register_nodes() the plugin names "
           "must be unique (multiple '${_arg}')")
       endif()
       list(APPEND _unique_names "${_arg}")
@@ -54,8 +54,9 @@ macro(rclcpp_register_node_plugins target)
       else()
         set(_path "lib")
       endif()
-      set(_RCLCPP__NODE_PLUGINS
-        "${_RCLCPP__NODE_PLUGINS}${_arg};${_path}/$<TARGET_FILE_NAME:${target}>\n")
+      set(_RCLCPP_COMPONENTS__NODES
+        "${_RCLCPP_COMPONENTS__NODES}${_arg};${_path}/$<TARGET_FILE_NAME:${target}>\n")
     endforeach()
   endif()
 endmacro()
+

rclcpp_components/include/rclcpp_components/node_factory.hpp

@@ -0,0 +1,46 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP_COMPONENTS__NODE_FACTORY_HPP__
+#define RCLCPP_COMPONENTS__NODE_FACTORY_HPP__
+
+#include "rclcpp_components/node_instance_wrapper.hpp"
+
+namespace rclcpp_components
+{
+
+/// The NodeFactory interface is used by the class loader to instantiate components.
+/**
+ * The NodeFactory interface serves two purposes:
+ *  * It allows for classes not derived from `rclcpp::Node` to be used as components.
+ *  * It allows derived constructors to be called when components are loaded.
+ */
+class NodeFactory
+{
+public:
+  NodeFactory() = default;
+
+  virtual ~NodeFactory() = default;
+
+  /// Create an instance of a component
+  /**
+   * \param[in] options Additional options used in the construction of the component.
+   */
+  virtual
+  NodeInstanceWrapper
+  create_node_instance(const rclcpp::NodeOptions & options) = 0;
+};
+}  // namespace rclcpp_components
+
+#endif  // RCLCPP_COMPONENTS__NODE_FACTORY_HPP__

rclcpp_components/include/rclcpp_components/node_factory_template.hpp

@@ -0,0 +1,53 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP_COMPONENTS__NODE_FACTORY_TEMPLATE_HPP__
+#define RCLCPP_COMPONENTS__NODE_FACTORY_TEMPLATE_HPP__
+
+#include <functional>
+#include <memory>
+
+#include "rclcpp_components/node_factory.hpp"
+
+namespace rclcpp_components
+{
+
+/// NodeFactoryTemplate is a convenience class for instantiating components.
+/**
+ * The NodeFactoryTemplate class can be used to provide the NodeFactory interface for
+ * components that implement a single-argument constructor and `get_node_base_interface`.
+ */
+template<typename NodeT>
+class NodeFactoryTemplate : public NodeFactory
+{
+public:
+  NodeFactoryTemplate() = default;
+  virtual ~NodeFactoryTemplate() = default;
+
+  /// Create an instance of a component
+  /**
+   * \param[in] options Additional options used in the construction of the component.
+   */
+  NodeInstanceWrapper
+  create_node_instance(const rclcpp::NodeOptions & options) override
+  {
+    auto node = std::make_shared<NodeT>(options);
+
+    return NodeInstanceWrapper(
+      node, std::bind(&NodeT::get_node_base_interface, node));
+  }
+};
+}  // namespace rclcpp_components
+
+#endif  // RCLCPP_COMPONENTS__NODE_FACTORY_TEMPLATE_HPP__