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Subscribing with a ConstSharedPtr in the callback signature/publishing a ConstSharedPtr #118

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jacquelinekay opened this issue Oct 9, 2015 · 1 comment
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Subscribing with a ConstSharedPtr in the callback signature/publishing a ConstSharedPtr #118

jacquelinekay opened this issue Oct 9, 2015 · 1 comment
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@jacquelinekay
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Nowhere on the master branches of ROS 2 repositories do we subscribe to a topic with a callback signature receiving a MessageT::ConstSharedPtr (shared_ptr<const MessageT>, or publish a ConstSharedPtr.

I tried to do this and there two problems:

  1. AnySubscriptionCallback doesn't have definitions for the ConstSharedPtr type. This is easy to fix and I have an upcoming pull request for it.
  2. The IntraProcessManager receives the published message as a void* in its store_intra_process callback. The compile error is because the publisher template tries to copy the const message into a unique pointer of a const message and pass that to store_intra_proces, but const message cannot be cast to void. Fixing this requires a bit more work to ensure the copy of the message is not const.
This was referenced Oct 9, 2015
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@jacquelinekay jacquelinekay self-assigned this Oct 13, 2015
@jacquelinekay jacquelinekay added the in progress Actively being worked on (Kanban column) label Oct 13, 2015
@jacquelinekay
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TODO for me: investigate if 2 is still a problem (maybe add a test for publishing a ConstSharedPtr)

@jacquelinekay jacquelinekay mentioned this issue Oct 13, 2015
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@jacquelinekay jacquelinekay added in review Waiting for review (Kanban column) and removed in progress Actively being worked on (Kanban column) labels Oct 13, 2015
@jacquelinekay jacquelinekay mentioned this issue Oct 13, 2015
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@jacquelinekay jacquelinekay removed the in review Waiting for review (Kanban column) label Oct 13, 2015
nnmm pushed a commit to ApexAI/rclcpp that referenced this issue Jul 9, 2022
@Karsten1987
use string_array_t from c_utilities package (ros2#118)
08d9763 
* use c_utilities package

* add doc for get_node_names

* fix typo

* fixup docs

* fix tests to handle return value of destroy function
DensoADAS pushed a commit to DensoADAS/rclcpp that referenced this issue Aug 5, 2022
@Martin-Idel-SI @Karsten1987
Renaming struct members for consistency (ros2#64)
149e85b 
* ros2GH-118 Rename rosbag2_storage::TopicMetadata to TopicInformation and rosbag2_storage::TopicwithType to TopicMetadata

- The former TopicWithTye struct will be enlarged to contain also the rmw serialization format relative to the topic. This is why the name 'TopicMetadata' is now better suited for it.

* ros2GH-17 Rename timestamp to time_stamp for consistency in types

* Fix renaming of TopicWithType to TopicMetadata

* formatting

* pass by const ref
DensoADAS pushed a commit to DensoADAS/rclcpp that referenced this issue Aug 5, 2022
@botteroa-si @Karsten1987
Use converters when recording a bag file (ros2#57)
30c4733 
* ros2GH-118 Make rosbag2::Writer use converters

- Use converters in Writer::write() when input rmw serialization format is different from desired storage serialization format
- Add new field in rosbag2::StorageOptions to keep track of the rmw format given by the user to store the message in

* ros2GH-118 Add --encoding option to ros2 bag record

* ros2GH-118 Associate to each topic its rmw_serialization_format

- Add 'serialization_format' field to TopicMetadata
- Add 'serialization_forat' column in 'topics' table in sqlite storage
- Remove 'storage_format' from BagMetadata and use the TopicMetadata field directly, instead
- the field 'rmw_serialization_format' has been moved from rosbag2::StorageOptions to rosbag2_transport::RecordOptions, because it's a topic property rather than a storage one.
- Currently all topics in a bag file must have the same serialization format
- The tests have been updated accordingly

* ros2GH-118 Fix tests after rebase

* ros2GH-118 Fix MockMetadataIO and use it in test_writer

* ros2GH-118 Fix Windows build and minor refactoring

* ros2GH-118 Add test for writer to check that error is thrown if converter plugin does not exist

* ros2GH-118 Add test to check that metadat_io_ writes metadata file in writer's destructor

* ros2GH-118 Build Converter before opening the database in Writer::open()

- This assures that if one of the converter plugins does not exist, the database is not created

* ros2GH-118 Add end-to-end tests to check graceful failure if converter plugins do not exists

- Both a test for record and play has been added

* ros2GH-118 Rename 'encoding' CLI option to 'serialization_format'

* ros2GH-127 Write serialization format in database also when it's not specified at CLI level

- Tests to check that the serialization format is written in the database have also been added.

* ros2GH-17 Add leak sanitizer to test

- one of the main test goals can only be ssen by valgrind or sanitizers
- enable leak sanitizer for gcc builds only (for now)

* ros2GH-137: Fix cdr converter plugin

- update pluginlib descriptions file after several renames
- fix export of missing includes folder

* ros2GH-137 Add integration test for cdr converter

* ros2GH-137 Fix superfluous printf

* ros2GH-137 It suffices to have only one converter test

* ros2GH-137 Minor refactoring for better readability of test

N.B. This exposes an pre-existing memory leak (not fixed here).

* ros2GH-137 Fix memory leak of topic_name

- topic_name member needs to be freed
- provide a setter for convenience
- Directly assigning a string literal in the test is not sufficient as
  this would be static memory that does not need to be freed.

* ros2GH-17 Allow disabling the usage of sanitizers

This allows manual usage of valgrind.

* ros2GH-17 Fix renaming after rebase

* ros2GH-17 Small cleanups (addressing review comments)
DensoADAS pushed a commit to DensoADAS/rclcpp that referenced this issue Aug 5, 2022
@Karsten1987
clean up test dependencies for rosbag2_test_common (ros2#118)
876118b 
* clean up test dependencies for rosbag2_test_common

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

* use build and exec depend

Signed-off-by: Karsten Knese <karsten@openrobotics.org>
mauropasse pushed a commit to mauropasse/rclcpp that referenced this issue Oct 10, 2023
@alsora
Merge pull request ros2#118 from mauropasse/mauro/irobot-humble
aa99691 
Do not crash Executor when send_response fails due to client failure
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