Add `take_data` to `Waitable` and `data` to `AnyExecutable` #1241

audrow · 2020-07-27T20:55:48Z

Fixes #1212. This PR extends the Waitable class with a take_data method and the AnyExecutable struct with a data field. take_data places the data to be executed in AnyExecutable.data, which is then used in the execute method.

audrow · 2020-07-29T17:00:38Z

To check if this PR breaks upstream packages:

ivanpauno · 2020-08-05T14:48:29Z

I'm not convinced that adding a take_data method is the solution to the problem, it seems complicated and it doesn't solve the issue for all cases. e.g. we had a similar issue with timers, and an strange way to solve the problem was introduced (see 1 and 2).
In the case of timers, the take_data approach won't do.

The issue is that we're waiting for the same waitable to be ready again, before executing it.
Maybe, a thread shouldn't be waiting for a waitable that another thread has already plan to execute.
If the multithreaded executor worked that way, we wouldn't need to introduce this artificial mechanisms to solve the issue.

e.g.: the rclpy executor works this way, and doesn't have any of this problem.

I also think that the rclpy threading model is much better than the one used in rclcpp.
In the rclpy executor there's only one thread collecting entities, and the others doing work.
In rclcpp, all threads collect entities and do work. As two threads can't wait on the same entities at the same time, this means that the threads can be blocked for a long time until being able to wait for work again.

I would rather revisit the MultiThreadedExecutor design than merging yet another hack to solve its problems.

audrow · 2020-08-06T22:08:49Z

I would rather revisit the MultiThreadedExecutor design than merging yet another hack to solve its problems.

It would probably be good to open a discussion about redesigning MultiThreadedExecutor, but I see this PR as being orthogonal to that conversation. This PR fixes one known flaky test and possibly others in our current implementation. Again, a redesign might be a good idea, but it won't help for some time with our existing flaky tests.

ivanpauno · 2020-08-07T13:36:26Z

It would probably be good to open a discussion about redesigning MultiThreadedExecutor, but I see this PR as being orthogonal to that conversation.

Yeah, my comment was a bit confusing.

This PR fixes one known flaky test and possibly others in our current implementation. Again, a redesign might be a good idea, but it won't help for some time with our existing flaky tests.

The problem is that this PR isn't only fixing the issue, it's modifying Waitable and AnyExecutable API to work around it.
Both API changes seem conceptually wrong to me.

Instead of that, MultiThreadedExecutor should internally keep track of all the entities that are already being used by another thread (by used I mean either being ready to be executed or being added to a wait set).
Doing that fix would require extending MemoryStrategy API, which is where we are currently keeping track of the entities.

ivanpauno

As commented above, I don't think this is using the right approach to fix the problem

ivanpauno · 2020-08-07T13:58:29Z

e.g. we had a similar issue with timers, and an strange way to solve the problem was introduced (see 1 and 2)

The current hack that avoids a timer to be fired "twice", actually doesn't avoid the problem.
Here a recent example of a timer being fired twice: https://ci.ros2.org/view/nightly/job/nightly_osx_release/1712/testReport/projectroot/test/test_multi_threaded_executor/.

The issue happens in the following order:

Threads A adds the timer to the wait set.
The timer is ready to be executed by thread A.
Thread B adds the timer to the wait set, and it's waiting it to be ready.
Thread B sees that the timer is ready to be executed (get_next_executable).
Thread A executes the timer and removes it from the scheduled timer collection.
Thread B checks if the timer has been scheduled ... but thread A has already removed it from the collection. So thread B executes the timer again.

ivanpauno · 2020-08-07T14:16:44Z

@wjwwood I'm considering adding a known issue to all past releases unrecommending the usage of MultiThreadedExecutor.
I don't think we will be able to fix this in a backportable way.

The MultiThreadedExecutor isn't working well with anything that it's not a subscription/service/service_client.
That is, it's not working well with timers and waitables (if I'm not forgetting something else).

The reason why it's not an issue with subscriptions/etc, is because taking them twice isn't a problem (see 1 and 2).
But the MultiThreadedExecutor may currently try to execute anything more than once, and that's a big issue.

clalancette · 2020-08-07T14:25:35Z

@wjwwood I'm considering adding a known issue to all past releases unrecommending the usage of MultiThreadedExecutor.
I don't think we will be able to fix this in a backportable way.

The problem is that you must use the MultiThreadedExecutor to accomplish certain things. For instance, say you have a node controlling motors, but you want a high-priority ESTOP to be able to come into that node and override the commands currently queued (this is the case in some of the customers that I've written code for). As far as I know, the only way to accomplish this is with separate callback groups for the subscriptions and the MultiThreadedExecutor.

I guess we could recommend that users that need that functionality write their own executor, but it seems like a step back to me.

Maybe another solution here is to introduce MultiThreadedExecutor2 that is redesigned and has this stuff fixed?

ivanpauno · 2020-08-07T14:38:22Z

Maybe another solution here is to introduce MultiThreadedExecutor2 that is redesigned and has this stuff fixed?

Sure, that's possible.
What I'm saying is that I don't see a way of backporting a fix for the current class.

Maybe we can fix the issue with some nasty usage of global variables in a backportable fashion, but it isn't going to be simple.

(edit) I would first worry about fixing the issue correctly on master, and later see how we can backport.
For the moment, documenting the problem as a known issue in past releases sounds like something reasonable to do.

wjwwood · 2020-08-08T00:03:42Z

I think we should have a meeting about this topic with @audrow, @sloretz, me, @ivanpauno, and any one else interested because @audrow, @sloretz, and I already spoke about this and discussed the issues you brought up. Maybe we overlooked something or maybe this pr missed something we discussed before, but this back and forth on the issue isn't ideal, since we're repeating things we already discussed and they're complex enough that you have to catch up on them each time more than a few days passes.

As a primer for the meeting, I think the problem @ivanpauno is talking about existed before and exists after this pr, but is not the problem this pr is trying to avoid. But I could be wrong about that assessment.

ivanpauno · 2020-08-10T12:43:59Z

I think we should have a meeting about this topic with @audrow, @sloretz, me, @ivanpauno, and any one else interested because @audrow

Sure

As a primer for the meeting, I think the problem @ivanpauno is talking about existed before and exists after this pr, but is not the problem this pr is trying to avoid. But I could be wrong about that assessment.

According to the PR description, this is trying to fix #1212:

Ready reentrant Waitable objects can attempt to execute multiple times

It's trying to do so, by taking advantage that get_next executable is done in a mutually exclusive fashion and assuming that "taking the data" from the waitable early will make it to no longer be ready.

I have two comments about the approach:

The assumption that "taking data" from the Waitable will make it to no longer be ready is wrong. A timer is a great counterexample.
The concept of "taking data" from a waitable is wrong. Why a waitable should take data? (e.g. a timer)
This is also obvious from the proposed API that returns/takes a std::shared_ptr<void>, because what is being "taken" is unknown. I really consider the proposed take_data and execute signatures to be completely unacceptable, returning/taking a std::shared_ptr<void> in an user facing API is really poor c++.

The problem is not Waitable API, but that the MultiThreadedExecutor is missing some bookkeeping to avoid ready entities to be fired twice.

sloretz · 2020-08-12T16:55:35Z

e.g.: the rclpy executor works this way, and doesn't have any of this problem.

@ivanpauno I think you might be talking about a different issue. The issue this solves isn't avoided in rclpy using the entity _executor_event, it's solved by separating taking data from something about to be executed, and the execution of the event with that taken data. This separation is why rclpy's Waitable has a take_data method.

Say rclcpp had a flag on every entity like _executor_event. When should the executor reset that flag? After the event is executed? Then all entities are mutually exclusive with themselves, and can't be run in parallel. After the execute method starts executing? Then there's a race between the start of execution and when the Waitable takes it's own data for that event.

Maybe, a thread shouldn't be waiting for a waitable that another thread has already plan to execute.
If the multithreaded executor worked that way, we wouldn't need to introduce this artificial mechanisms to solve the issue.

I don't think the Multithreaded Executor's design is relevant to this problem. When does a Waitable become ready to check if it can be executed again? The answer is it becomes ready after the data for the last event has been taken from it; that way it can be sure the presence of data again means there's another event to execute.

audrow · 2020-08-12T19:09:43Z

In meeting with @sloretz, @wjwwood, and @ivanpauno, we came up with three ways to proceed:

Ignore the case where reentrant waitable object is attempted to be executed twice similar to what is done with a timer now. This has a downside of spurious wake ups, which can be expensive @wjwwood pointed out.
Continue with this approach, but add a disclaimer comment in AnyExecutable that the data field fixes a current bug and will likely be changed as we develop a more general solution.
Similar to option 2, except split take_data into two methods: one to take the data and store it locally and another to get that data in an object that doesn't modify AnyExecutable. That object would then be passed into execute.

I will plan to do option 2 and perhaps a future PR can be opened for option 3. I will also create a PR that adds an .rst file in rclcpp/docs to continue discussing a more general solution.

ivanpauno · 2020-08-12T19:48:17Z

Thanks for the summary @audrow. I will add some extra comments on it:

Ignore the case where reentrant waitable object is attempted to be executed twice similar to what is done with a timer now. This has a downside of spurious wake ups, which can be expensive @wjwwood pointed out.

I wouldn't say "similar to what we do in timer" now, as that has a race condition and doesn't work (see here).
I would rather say that the execute method of all waitables/timers/etc should handle the case of being spuriously executed.
That fix is just a couple of lines of codes, so I will open a PR for clarity.

Continue with this approach, but add a disclaimer comment in AnyExecutable that the data field fixes a current bug and will likely be changed as we develop a more general solution.

I would like to mention that this proposed method doesn't solve the problem in all cases, but it particularly solve the problem for waitables where the concept of "taking data" makes sense.

Similar to option 2, except split take_data into two methods: one to take the data and store it locally and another to get that data in an object that doesn't modify AnyExecutable. That object would then be passed into execute.

Rather than splitting it, my idea was having a method get_execution_callback that will return a callable object that owns the taken data (in the case that taking any data is needed).
In that way, the API doesn't have to use void *, which I think it isn't nice for interfaces that the user is expected to extend.
This has the same problem than option 2: it sometimes fix the problem, but it sometimes doesn't.

I highly prefer going forward with something like 1. or 3.

is surprisingly simple and it doesn't involve changing API (the solution isn't ideal because of the reason @wjwwood pointed out).
is fine, but I'm not completely sure that's the right API long term, and still doesn't solve the issue completely (we would need to correct the timers issue separately)

I will also create a PR that adds an .rst file in rclcpp/docs to continue discussing a more general solution.

I think that's great! The topic isn't simple, so discussing and weighing the different alternatives is a great idea.

ivanpauno · 2020-08-12T20:33:36Z

That fix is just a couple of lines of codes, so I will open a PR for clarity.

#1275 is a draft PR taking this approach.
It fixes the problem for SubscriptionIntraProcess and for Timer, but the fixes are kind of custom.

The general idea is to avoid assuming in execute that there's something ready to be executed, which is maybe not super nice.

audrow · 2020-08-18T22:45:27Z

I've added a comment to Waitable's take_data method that says that this method is not a permanent fix to the problem we've discussed and linked to #1276.

rclcpp/rclcpp/include/rclcpp/waitable.hpp

Lines 131 to 134 in b92110a

    
              * NOTE: take_data is a partial fix to a larger design issue with the 
        
              * multithreaded executor. This method is likely to be removed when 
        
              * a more permanent fix is implemented. A longterm fix is currently 
        
              * being discussed here: https://github.com/ros2/rclcpp/pull/1276

audrow · 2020-09-08T18:40:46Z

@wjwwood, do you think that we should go with #1275 because of its simplicity? I like how it simplifies how MultiThreadedExecutor::run handles timers. However, as @ivanpauno mentions here, we'll need another PR for action clients and servers.

wjwwood · 2020-11-03T23:08:43Z

Sorry to leave this hanging for so long.

I actually do not like the patch in #1275, despite its simplicity.

We discussed that in the past and I think I was not in favor:

Ignore the case where reentrant waitable object is attempted to be executed twice similar to what is done with a timer now. This has a downside of spurious wake ups, which can be expensive @wjwwood pointed out.

I think it addresses a symptom but is not a solution. If we later have different causes for that symptom we might miss it and be erroneously suppressing that "spurious event".

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno · 2020-11-12T17:50:37Z

rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp

+std::shared_ptr<void>
+StaticExecutorEntitiesCollector::take_data()
+{
+  return nullptr;
+}
+


The StaticExecutorEntitiesCollector would have some synchronization issues if we would try to use it in a MultiThreadedExecutor, but we're not so this is ok for the moment.

ivanpauno · 2020-11-12T18:04:45Z

CI:

Linux
Linux-aarch64
macOS
Windows

ivanpauno · 2020-11-13T16:14:29Z

New CI, after ros2/system_tests@53b75b8:

Linux
Linux-aarch64
macOS
Windows

clalancette

I'm tentatively approving this.

The code looks reasonable to me, but there is a lot of change here and I'm not really that familiar with this part of the code. That's why I'm a bit hesitant. It would be awesome if someone else more familiar in this area could take a look, but let's not hold up on that.

CI is green on all platforms, which is great.

The one last CI thing we may want to run is this piece of code: https://github.com/ros2/system_tests/blob/c1ccb7281fe387ed5e92c860e4c66f20eb151601/test_rclcpp/test/test_multithreaded.cpp#L338 . That is, maybe run CI with --retest-until-fail 100 --packages-select test_rclcpp. That will take a long time, but will hopefully convince us that this particular issue is fixed.

ivanpauno · 2020-11-16T15:56:01Z

The one last CI thing we may want to run is this piece of code: https://github.com/ros2/system_tests/blob/c1ccb7281fe387ed5e92c860e4c66f20eb151601/test_rclcpp/test/test_multithreaded.cpp#L338 . That is, maybe run CI with --retest-until-fail 100 --packages-select test_rclcpp. That will take a long time, but will hopefully convince us that this particular issue is fixed.

I went with

--retest-until-fail 200 --packages-select test_rclcpp --ctest-args -R gtest_multithreaded

which will run test_multithreaded.cpp 200 times or until it fails.
That should not take as long as running all test_rclcpp tests 100 times, and is the only test that matters for this PR.

Linux

rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp

rclcpp/include/rclcpp/experimental/subscription_intra_process.hpp

rclcpp/include/rclcpp/qos_event.hpp

Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno · 2020-11-17T14:41:22Z

Going in, thanks @audrow for working on this!!

ivanpauno · 2020-11-17T14:42:36Z

Adding comment in the release notes in ros2/ros2_documentation#906.

audrow · 2020-11-17T16:47:51Z

@ivanpauno Thanks for pushing this forward!

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(#1705 <https://github.com/ros2/rclcpp/issues/1705>) * Use rcpputils/scope_exit.hpp and remove rclcpp/scope_exit.hpp. (#1727 <https://github.com/ros2/rclcpp/issues/1727>) * Contributors: Ahmed Sobhy, Christophe Bedard, Ivan Santiago Paunovic, Karsten Knese, M. Hofstätter, Mauro Passerino, Shane Loretz, mauropasse . ros-rolling-rclcpp (12.0.0-1jammy) jammy; urgency=high . * Remove unsafe get_callback_groups API. Callers should change to using for_each_callback_group(), or store the callback groups they need internally. * Add in callback_groups_for_each. The main reason to add this method in is to make accesses to the callback_groups_ vector thread-safe. By having a callback_groups_for_each that accepts a std::function, we can just have the callers give us the callback they are interested in, and we can take care of the locking. The rest of this fairly large PR is cleaning up all of the places that use get_callback_groups() to instead use callback_groups_for_each(). * Use a different mechanism to avoid timers being scheduled multiple times by the MultiThreadedExecutor (#1692 <https://github.com/ros2/rclcpp/issues/1692>) * Fix windows CI (#1726 <https://github.com/ros2/rclcpp/issues/1726>) Fix bug in AnyServiceCallback introduced in #1709 <https://github.com/ros2/rclcpp/issues/1709>. * Contributors: Chris Lalancette, Ivan Santiago Paunovic . ros-rolling-rclcpp (11.2.0-1jammy) jammy; urgency=high . * Support to defer to send a response in services. (#1709 <https://github.com/ros2/rclcpp/issues/1709>) Signed-off-by: Ivan Santiago Paunovic <mailto:ivanpauno@ekumenlabs.com> * Fix documentation bug. (#1719 <https://github.com/ros2/rclcpp/issues/1719>) Signed-off-by: William Woodall <mailto:william@osrfoundation.org> * Contributors: Ivan Santiago Paunovic, William Woodall . ros-rolling-rclcpp (11.1.0-1jammy) jammy; urgency=high . * Removed left over ``is_initialized()`` implementation (#1711 <https://github.com/ros2/rclcpp/issues/1711>) Leftover from https://github.com/ros2/rclcpp/pull/1622 * Fixed declare parameter methods for int and float vectors (#1696 <https://github.com/ros2/rclcpp/issues/1696>) * Cleaned up implementation of the intra-process manager (#1695 <https://github.com/ros2/rclcpp/issues/1695>) * Added the node name to an executor ``runtime_error`` (#1686 <https://github.com/ros2/rclcpp/issues/1686>) * Fixed a typo "Attack" -> "Attach" (#1687 <https://github.com/ros2/rclcpp/issues/1687>) * Removed use of std::allocator<>::rebind (#1678 <https://github.com/ros2/rclcpp/issues/1678>) rebind is deprecated in c++17 and removed in c++20 * Contributors: Alberto Soragna, Chen Lihui, Chris Lalancette, Petter Nilsson, Steve Macenski, William Woodall . ros-rolling-rclcpp (11.0.0-1jammy) jammy; urgency=high . * Allow declare uninitialized parameters (#1673 <https://github.com/ros2/rclcpp/issues/1673>) * Fix syntax issue with gcc (#1674 <https://github.com/ros2/rclcpp/issues/1674>) * [service] Don't use a weak_ptr to avoid leaking (#1668 <https://github.com/ros2/rclcpp/issues/1668>) * Contributors: Ivan Santiago Paunovic, Jacob Perron, William Woodall . ros-rolling-rclcpp (10.0.0-1jammy) jammy; urgency=high . * Fix doc typo (#1663 <https://github.com/ros2/rclcpp/issues/1663>) * [rclcpp] Type Adaptation feature (#1557 <https://github.com/ros2/rclcpp/issues/1557>) * Do not attempt to use void allocators for memory allocation. (#1657 <https://github.com/ros2/rclcpp/issues/1657>) * Keep custom allocator in publisher and subscription options alive. (#1647 <https://github.com/ros2/rclcpp/issues/1647>) * Fix get_publishers_subscriptions_info_by_topic test in test_node.cpp (#1648 <https://github.com/ros2/rclcpp/issues/1648>) * Use OnShutdown callback handle instead of OnShutdown callback (#1639 <https://github.com/ros2/rclcpp/issues/1639>) * use dynamic_pointer_cast to detect allocator mismatch in intra process manager (#1643 <https://github.com/ros2/rclcpp/issues/1643>) * Increase cppcheck timeout to 500s (#1634 <https://github.com/ros2/rclcpp/issues/1634>) * Clarify node parameters docs (#1631 <https://github.com/ros2/rclcpp/issues/1631>) * Contributors: Audrow Nash, Barry Xu, Jacob Perron, Michel Hidalgo, Shane Loretz, William Woodall . ros-rolling-rclcpp (9.0.2-1jammy) jammy; urgency=high . * Avoid returning loan when none was obtained. (#1629 <https://github.com/ros2/rclcpp/issues/1629>) * Use a different implementation of mutex two priorities (#1628 <https://github.com/ros2/rclcpp/issues/1628>) * Do not test the value of the history policy when testing the get_publishers/subscriptions_info_by_topic() methods (#1626 <https://github.com/ros2/rclcpp/issues/1626>) * Check first parameter type and range before calling the user validation callbacks (#1627 <https://github.com/ros2/rclcpp/issues/1627>) * Contributors: Ivan Santiago Paunovic, Miguel Company . ros-rolling-rclcpp (9.0.1-1jammy) jammy; urgency=high . * Restore test exception for Connext (#1625 <https://github.com/ros2/rclcpp/issues/1625>) * Fix race condition in TimeSource clock thread setup (#1623 <https://github.com/ros2/rclcpp/issues/1623>) * Contributors: Andrea Sorbini, Michel Hidalgo . ros-rolling-rclcpp (9.0.0-1jammy) jammy; urgency=high . * remove deprecated code which was deprecated in foxy and should be removed in galactic (#1622 <https://github.com/ros2/rclcpp/issues/1622>) * Change index.ros.org -> docs.ros.org. (#1620 <https://github.com/ros2/rclcpp/issues/1620>) * Unique network flows (#1496 <https://github.com/ros2/rclcpp/issues/1496>) * Add spin_some support to the StaticSingleThreadedExecutor (#1338 <https://github.com/ros2/rclcpp/issues/1338>) * Add publishing instrumentation (#1600 <https://github.com/ros2/rclcpp/issues/1600>) * Create load_parameters and delete_parameters methods (#1596 <https://github.com/ros2/rclcpp/issues/1596>) * refactor AnySubscriptionCallback and add/deprecate callback signatures (#1598 <https://github.com/ros2/rclcpp/issues/1598>) * Add generic publisher and generic subscription for serialized messages (#1452 <https://github.com/ros2/rclcpp/issues/1452>) * use context from node_base_ for clock executor. (#1617 <https://github.com/ros2/rclcpp/issues/1617>) * updating quality declaration links (re: ros2/docs.ros2.org#52 <https://github.com/ros2/docs.ros2.org/issues/52>) (#1615 <https://github.com/ros2/rclcpp/issues/1615>) * Contributors: Ananya Muddukrishna, BriceRenaudeau, Chris Lalancette, Christophe Bedard, Nikolai Morin, Tomoya Fujita, William Woodall, mauropasse, shonigmann . ros-rolling-rclcpp (8.2.0-1jammy) jammy; urgency=high . * Initialize integers in test_parameter_event_handler.cpp to avoid undefined behavior (#1609 <https://github.com/ros2/rclcpp/issues/1609>) * Namespace tracetools C++ functions (#1608 <https://github.com/ros2/rclcpp/issues/1608>) * Revert "Namespace tracetools C++ functions (#1603 <https://github.com/ros2/rclcpp/issues/1603>)" (#1607 <https://github.com/ros2/rclcpp/issues/1607>) * Namespace tracetools C++ functions (#1603 <https://github.com/ros2/rclcpp/issues/1603>) * Clock subscription callback group spins in its own thread (#1556 <https://github.com/ros2/rclcpp/issues/1556>) * Contributors: Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, anaelle-sw . ros-rolling-rclcpp (8.1.0-1jammy) jammy; urgency=high . * Remove rmw_connext_cpp references. (#1595 <https://github.com/ros2/rclcpp/issues/1595>) * Add API for checking QoS profile compatibility (#1554 <https://github.com/ros2/rclcpp/issues/1554>) * Document misuse of parameters callback (#1590 <https://github.com/ros2/rclcpp/issues/1590>) * use const auto & to iterate over parameters (#1593 <https://github.com/ros2/rclcpp/issues/1593>) * Contributors: Chris Lalancette, Jacob Perron, Karsten Knese . ros-rolling-rclcpp (8.0.0-1jammy) jammy; urgency=high . * Guard against integer overflow in duration conversion (#1584 <https://github.com/ros2/rclcpp/issues/1584>) * Contributors: Jacob Perron . ros-rolling-rclcpp (7.0.1-1jammy) jammy; urgency=high . * get_parameters service should return empty if undeclared parameters are allowed (#1514 <https://github.com/ros2/rclcpp/issues/1514>) * Made 'Context::shutdown_reason' function a const function (#1578 <https://github.com/ros2/rclcpp/issues/1578>) * Contributors: Tomoya Fujita, suab321321 . ros-rolling-rclcpp (7.0.0-1jammy) jammy; urgency=high . * Document design decisions that were made for statically typed parameters (#1568 <https://github.com/ros2/rclcpp/issues/1568>) * Fix doc typo in CallbackGroup constructor (#1582 <https://github.com/ros2/rclcpp/issues/1582>) * Enable qos parameter overrides for the /parameter_events topic (#1532 <https://github.com/ros2/rclcpp/issues/1532>) * Add support for rmw_connextdds (#1574 <https://github.com/ros2/rclcpp/issues/1574>) * Remove 'struct' from the rcl_time_jump_t. (#1577 <https://github.com/ros2/rclcpp/issues/1577>) * Add tests for declaring statically typed parameters when undeclared parameters are allowed (#1575 <https://github.com/ros2/rclcpp/issues/1575>) * Quiet clang memory leak warning on "DoNotOptimize". (#1571 <https://github.com/ros2/rclcpp/issues/1571>) * Add ParameterEventsSubscriber class (#829 <https://github.com/ros2/rclcpp/issues/829>) * When a parameter change is rejected, the parameters map shouldn't be updated. (#1567 <https://github.com/ros2/rclcpp/pull/1567>) * Fix when to throw the NoParameterOverrideProvided exception. (#1567 <https://github.com/ros2/rclcpp/pull/1567>) * Fix SEGV caused by order of destruction of Node sub-interfaces (#1469 <https://github.com/ros2/rclcpp/issues/1469>) * Fix benchmark test failure introduced in #1522 <https://github.com/ros2/rclcpp/issues/1522> (#1564 <https://github.com/ros2/rclcpp/issues/1564>) * Fix documented example in create_publisher (#1558 <https://github.com/ros2/rclcpp/issues/1558>) * Enforce static parameter types (#1522 <https://github.com/ros2/rclcpp/issues/1522>) * Allow timers to keep up the intended rate in MultiThreadedExecutor (#1516 <https://github.com/ros2/rclcpp/issues/1516>) * Fix UBSAN warnings in any_subscription_callback. (#1551 <https://github.com/ros2/rclcpp/issues/1551>) * Fix runtime error: reference binding to null pointer of type (#1547 <https://github.com/ros2/rclcpp/issues/1547>) * Contributors: Andrea Sorbini, Chris Lalancette, Colin MacKenzie, Ivan Santiago Paunovic, Jacob Perron, Steven! Ragnarök, bpwilcox, tomoya . ros-rolling-rclcpp (6.3.1-1jammy) jammy; urgency=high . * Reference test resources directly from source tree (#1543 <https://github.com/ros2/rclcpp/issues/1543>) * clear statistics after window reset (#1531 <https://github.com/ros2/rclcpp/issues/1531>) (#1535 <https://github.com/ros2/rclcpp/issues/1535>) * Fix a minor string error in the topic_statistics test. (#1541 <https://github.com/ros2/rclcpp/issues/1541>) * Avoid Resource deadlock avoided if use intra_process_comms (#1530 <https://github.com/ros2/rclcpp/issues/1530>) * Avoid an object copy in parameter_value.cpp. (#1538 <https://github.com/ros2/rclcpp/issues/1538>) * Assert that the publisher_list size is 1. (#1537 <https://github.com/ros2/rclcpp/issues/1537>) * Don't access objects after they have been std::move (#1536 <https://github.com/ros2/rclcpp/issues/1536>) * Update for checking correct variable (#1534 <https://github.com/ros2/rclcpp/issues/1534>) * Destroy msg extracted from LoanedMessage. (#1305 <https://github.com/ros2/rclcpp/issues/1305>) * Contributors: Chen Lihui, Chris Lalancette, Ivan Santiago Paunovic, Miaofei Mei, Scott K Logan, William Woodall, hsgwa . ros-rolling-rclcpp (6.3.0-1jammy) jammy; urgency=high . * Add instrumentation for linking a timer to a node (#1500 <https://github.com/ros2/rclcpp/issues/1500>) * Fix error when using IPC with StaticSingleThreadExecutor (#1520 <https://github.com/ros2/rclcpp/issues/1520>) * Change to using unique_ptrs for DummyExecutor. (#1517 <https://github.com/ros2/rclcpp/issues/1517>) * Allow reconfiguring 'clock' topic qos (#1512 <https://github.com/ros2/rclcpp/issues/1512>) * Allow to add/remove nodes thread safely in rclcpp::Executor (#1505 <https://github.com/ros2/rclcpp/issues/1505>) * Call rclcpp::shutdown in test_node for clean shutdown on Windows (#1515 <https://github.com/ros2/rclcpp/issues/1515>) * Reapply "Add get_logging_directory method to rclcpp::Logger (#1509 <https://github.com/ros2/rclcpp/issues/1509>)" (#1513 <https://github.com/ros2/rclcpp/issues/1513>) * use describe_parameters of parameter client for test (#1499 <https://github.com/ros2/rclcpp/issues/1499>) * Revert "Add get_logging_directory method to rclcpp::Logger (#1509 <https://github.com/ros2/rclcpp/issues/1509>)" (#1511 <https://github.com/ros2/rclcpp/issues/1511>) * Add get_logging_directory method to rclcpp::Logger (#1509 <https://github.com/ros2/rclcpp/issues/1509>) * Contributors: Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, eboasson, mauropasse, tomoya . ros-rolling-rclcpp (6.2.0-1jammy) jammy; urgency=high . * Better documentation for the QoS class (#1508 <https://github.com/ros2/rclcpp/issues/1508>) * Modify excluding callback duration from topic statistics (#1492 <https://github.com/ros2/rclcpp/issues/1492>) * Make the test of graph users more robust. (#1504 <https://github.com/ros2/rclcpp/issues/1504>) * Make sure to wait for graph change events in test_node_graph. (#1503 <https://github.com/ros2/rclcpp/issues/1503>) * add timeout to SyncParametersClient methods (#1493 <https://github.com/ros2/rclcpp/issues/1493>) * Fix wrong test expectations (#1497 <https://github.com/ros2/rclcpp/issues/1497>) * Update create_publisher/subscription documentation, clarifying when a parameters interface is required (#1494 <https://github.com/ros2/rclcpp/issues/1494>) * Fix string literal warnings (#1442 <https://github.com/ros2/rclcpp/issues/1442>) * support describe_parameters methods to parameter client. (#1453 <https://github.com/ros2/rclcpp/issues/1453>) * Contributors: Audrow Nash, Chris Lalancette, Ivan Santiago Paunovic, Nikolai Morin, hsgwa, tomoya . ros-rolling-rclcpp (6.1.0-1jammy) jammy; urgency=high . * Add getters to rclcpp::qos and rclcpp::Policy enum classes (#1467 <https://github.com/ros2/rclcpp/issues/1467>) * Change nullptr checks to use ASSERT_TRUE. (#1486 <https://github.com/ros2/rclcpp/issues/1486>) * Adjust logic around finding and erasing guard_condition (#1474 <https://github.com/ros2/rclcpp/issues/1474>) * Update QDs to QL 1 (#1477 <https://github.com/ros2/rclcpp/issues/1477>) * Add performance tests for parameter transport (#1463 <https://github.com/ros2/rclcpp/issues/1463>) * Contributors: Chris Lalancette, Ivan Santiago Paunovic, Scott K Logan, Stephen Brawner . ros-rolling-rclcpp (6.0.0-1jammy) jammy; urgency=high . * Move ownership of shutdown_guard_condition to executors/graph_listener (#1404 <https://github.com/ros2/rclcpp/issues/1404>) * Add options to automatically declare qos parameters when creating a publisher/subscription (#1465 <https://github.com/ros2/rclcpp/issues/1465>) * Add take_data to Waitable and data to AnyExecutable (#1241 <https://github.com/ros2/rclcpp/issues/1241>) * Add benchmarks for node parameters interface (#1444 <https://github.com/ros2/rclcpp/issues/1444>) * Remove allocation from executor::remove_node() (#1448 <https://github.com/ros2/rclcpp/issues/1448>) * Fix test crashes on CentOS 7 (#1449 <https://github.com/ros2/rclcpp/issues/1449>) * Bump rclcpp packages to Quality Level 2 (#1445 <https://github.com/ros2/rclcpp/issues/1445>) * Added executor benchmark tests (#1413 <https://github.com/ros2/rclcpp/issues/1413>) * Add fully-qualified namespace to WeakCallbackGroupsToNodesMap (#1435 <https://github.com/ros2/rclcpp/issues/1435>) * Contributors: Alejandro Hernández Cordero, Audrow Nash, Chris Lalancette, Ivan Santiago Paunovic, Louise Poubel, Scott K Logan, brawner . ros-rolling-rclcpp (5.1.0-1jammy) jammy; urgency=high . * Deprecate Duration(rcl_duration_value_t) in favor of static Duration::from_nanoseconds(rcl_duration_value_t) (#1432 <https://github.com/ros2/rclcpp/issues/1432>) * Avoid parsing arguments twice in rclcpp::init_and_remove_ros_arguments (#1415 <https://github.com/ros2/rclcpp/issues/1415>) * Add service and client benchmarks (#1425 <https://github.com/ros2/rclcpp/issues/1425>) * Set CMakeLists to only use default rmw for benchmarks (#1427 <https://github.com/ros2/rclcpp/issues/1427>) * Update tracetools' QL in rclcpp's QD (#1428 <https://github.com/ros2/rclcpp/issues/1428>) * Add missing locking to the rclcpp_action::ServerBase. (#1421 <https://github.com/ros2/rclcpp/issues/1421>) * Initial benchmark tests for rclcpp::init/shutdown create/destroy node (#1411 <https://github.com/ros2/rclcpp/issues/1411>) * Refactor test CMakeLists in prep for benchmarks (#1422 <https://github.com/ros2/rclcpp/issues/1422>) * Add methods in topic and service interface to resolve a name (#1410 <https://github.com/ros2/rclcpp/issues/1410>) * Update deprecated gtest macros (#1370 <https://github.com/ros2/rclcpp/issues/1370>) * Clear members for StaticExecutorEntitiesCollector to avoid shared_ptr dependency (#1303 <https://github.com/ros2/rclcpp/issues/1303>) * Increase test timeouts of slow running tests with rmw_connext_cpp (#1400 <https://github.com/ros2/rclcpp/issues/1400>) * Avoid self dependency that not destoryed (#1301 <https://github.com/ros2/rclcpp/issues/1301>) * Update maintainers (#1384 <https://github.com/ros2/rclcpp/issues/1384>) * Add clock qos to node options (#1375 <https://github.com/ros2/rclcpp/issues/1375>) * Fix NodeOptions copy constructor (#1376 <https://github.com/ros2/rclcpp/issues/1376>) * Make sure to clean the external client/service handle. (#1296 <https://github.com/ros2/rclcpp/issues/1296>) * Increase coverage of WaitSetTemplate (#1368 <https://github.com/ros2/rclcpp/issues/1368>) * Increase coverage of guard_condition.cpp to 100% (#1369 <https://github.com/ros2/rclcpp/issues/1369>) * Add coverage statement (#1367 <https://github.com/ros2/rclcpp/issues/1367>) * Tests for LoanedMessage with mocked loaned message publisher (#1366 <https://github.com/ros2/rclcpp/issues/1366>) * Add unit tests for qos and qos_event files (#1352 <https://github.com/ros2/rclcpp/issues/1352>) * Finish coverage of publisher API (#1365 <https://github.com/ros2/rclcpp/issues/1365>) * Finish API coverage on executors. (#1364 <https://github.com/ros2/rclcpp/issues/1364>) * Add test for ParameterService (#1355 <https://github.com/ros2/rclcpp/issues/1355>) * Add time API coverage tests (#1347 <https://github.com/ros2/rclcpp/issues/1347>) * Add timer coverage tests (#1363 <https://github.com/ros2/rclcpp/issues/1363>) * Add in additional tests for parameter_client.cpp coverage. * Minor fixes to the parameter_service.cpp file. * reset rcl_context shared_ptr after calling rcl_init sucessfully (#1357 <https://github.com/ros2/rclcpp/issues/1357>) * Improved test publisher - zero qos history depth value exception (#1360 <https://github.com/ros2/rclcpp/issues/1360>) * Covered resolve_use_intra_process (#1359 <https://github.com/ros2/rclcpp/issues/1359>) * Improve test_subscription_options (#1358 <https://github.com/ros2/rclcpp/issues/1358>) * Add in more tests for init_options coverage. (#1353 <https://github.com/ros2/rclcpp/issues/1353>) * Test the remaining node public API (#1342 <https://github.com/ros2/rclcpp/issues/1342>) * Complete coverage of Parameter and ParameterValue API (#1344 <https://github.com/ros2/rclcpp/issues/1344>) * Add in more tests for the utilities. (#1349 <https://github.com/ros2/rclcpp/issues/1349>) * Add in two more tests for expand_topic_or_service_name. (#1350 <https://github.com/ros2/rclcpp/issues/1350>) * Add tests for node_options API (#1343 <https://github.com/ros2/rclcpp/issues/1343>) * Add in more coverage for expand_topic_or_service_name. (#1346 <https://github.com/ros2/rclcpp/issues/1346>) * Test exception in spin_until_future_complete. (#1345 <https://github.com/ros2/rclcpp/issues/1345>) * Add coverage tests graph_listener (#1330 <https://github.com/ros2/rclcpp/issues/1330>) * Add in unit tests for the Executor class. * Allow mimick patching of methods with up to 9 arguments. * Improve the error messages in the Executor class. * Add coverage for client API (#1329 <https://github.com/ros2/rclcpp/issues/1329>) * Increase service coverage (#1332 <https://github.com/ros2/rclcpp/issues/1332>) * Make more of the static entity collector API private. * Const-ify more of the static executor. * Add more tests for the static single threaded executor. * Many more tests for the static_executor_entities_collector. * Get one more line of code coverage in memory_strategy.cpp * Bugfix when adding callback group. * Fix typos in comments. * Remove deprecated executor::FutureReturnCode APIs. (#1327 <https://github.com/ros2/rclcpp/issues/1327>) * Increase coverage of publisher/subscription API (#1325 <https://github.com/ros2/rclcpp/issues/1325>) * Not finalize guard condition while destructing SubscriptionIntraProcess (#1307 <https://github.com/ros2/rclcpp/issues/1307>) * Expose qos setting for /rosout (#1247 <https://github.com/ros2/rclcpp/issues/1247>) * Add coverage for missing API (except executors) (#1326 <https://github.com/ros2/rclcpp/issues/1326>) * Include topic name in QoS mismatch warning messages (#1286 <https://github.com/ros2/rclcpp/issues/1286>) * Add coverage tests context functions (#1321 <https://github.com/ros2/rclcpp/issues/1321>) * Increase coverage of node_interfaces, including with mocking rcl errors (#1322 <https://github.com/ros2/rclcpp/issues/1322>) * Contributors: Ada-King, Alejandro Hernández Cordero, Audrow Nash, Barry Xu, Chen Lihui, Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, Jorge Perez, Morgan Quigley, brawner . ros-rolling-rclcpp (5.0.0-1jammy) jammy; urgency=high . * Make node_graph::count_graph_users() const (#1320 <https://github.com/ros2/rclcpp/issues/1320>) * Add coverage for wait_set_policies (#1316 <https://github.com/ros2/rclcpp/issues/1316>) * Only exchange intra_process waitable if nonnull (#1317 <https://github.com/ros2/rclcpp/issues/1317>) * Check waitable for nullptr during constructor (#1315 <https://github.com/ros2/rclcpp/issues/1315>) * Call vector.erase with end iterator overload (#1314 <https://github.com/ros2/rclcpp/issues/1314>) * Use best effort, keep last, history depth 1 QoS Profile for '/clock' subscriptions (#1312 <https://github.com/ros2/rclcpp/issues/1312>) * Add tests type_support module (#1308 <https://github.com/ros2/rclcpp/issues/1308>) * Replace std_msgs with test_msgs in executors test (#1310 <https://github.com/ros2/rclcpp/issues/1310>) * Add set_level for rclcpp::Logger (#1284 <https://github.com/ros2/rclcpp/issues/1284>) * Remove unused private function (rclcpp::Node and rclcpp_lifecycle::Node) (#1294 <https://github.com/ros2/rclcpp/issues/1294>) * Adding tests basic getters (#1291 <https://github.com/ros2/rclcpp/issues/1291>) * Adding callback groups in executor (#1218 <https://github.com/ros2/rclcpp/issues/1218>) * Refactor Subscription Topic Statistics Tests (#1281 <https://github.com/ros2/rclcpp/issues/1281>) * Add operator!= for duration (#1236 <https://github.com/ros2/rclcpp/issues/1236>) * Fix clock thread issue (#1266 <https://github.com/ros2/rclcpp/issues/1266>) (#1267 <https://github.com/ros2/rclcpp/issues/1267>) * Fix topic stats test, wait for more messages, only check the ones with samples (#1274 <https://github.com/ros2/rclcpp/issues/1274>) * Add get_domain_id method to rclcpp::Context (#1271 <https://github.com/ros2/rclcpp/issues/1271>) * Fixes for unit tests that fail under cyclonedds (#1270 <https://github.com/ros2/rclcpp/issues/1270>) * initialize_logging_ should be copied (#1272 <https://github.com/ros2/rclcpp/issues/1272>) * Use static_cast instead of C-style cast for instrumentation (#1263 <https://github.com/ros2/rclcpp/issues/1263>) * Make parameter clients use template constructors (#1249 <https://github.com/ros2/rclcpp/issues/1249>) * Ability to configure domain_id via InitOptions. (#1165 <https://github.com/ros2/rclcpp/issues/1165>) * Simplify and fix allocator memory strategy unit test for connext (#1252 <https://github.com/ros2/rclcpp/issues/1252>) * Use global namespace for parameter events subscription topic (#1257 <https://github.com/ros2/rclcpp/issues/1257>) * Increase timeouts for connext for long tests (#1253 <https://github.com/ros2/rclcpp/issues/1253>) * Adjust test_static_executor_entities_collector for rmw_connext_cpp (#1251 <https://github.com/ros2/rclcpp/issues/1251>) * Fix failing test with Connext since it doesn't wait for discovery (#1246 <https://github.com/ros2/rclcpp/issues/1246>) * Fix node graph test with Connext and CycloneDDS returning actual data (#1245 <https://github.com/ros2/rclcpp/issues/1245>) * Warn about unused result of add_on_set_parameters_callback (#1238 <https://github.com/ros2/rclcpp/issues/1238>) * Unittests for memory strategy files, except allocator_memory_strategy (#1189 <https://github.com/ros2/rclcpp/issues/1189>) * EXPECT_THROW_EQ and ASSERT_THROW_EQ macros for unittests (#1232 <https://github.com/ros2/rclcpp/issues/1232>) * Add unit test for static_executor_entities_collector (#1221 <https://github.com/ros2/rclcpp/issues/1221>) * Parameterize test executors for all executor types (#1222 <https://github.com/ros2/rclcpp/issues/1222>) * Unit tests for allocator_memory_strategy.cpp part 2 (#1198 <https://github.com/ros2/rclcpp/issues/1198>) * Unit tests for allocator_memory_strategy.hpp (#1197 <https://github.com/ros2/rclcpp/issues/1197>) * Derive and throw exception in spin_some spin_all for StaticSingleThreadedExecutor (#1220 <https://github.com/ros2/rclcpp/issues/1220>) * Make ring buffer thread-safe (#1213 <https://github.com/ros2/rclcpp/issues/1213>) * Add missing RCLCPP_PUBLIC to ~StaticExecutorEntitiesCollector (#1227 <https://github.com/ros2/rclcpp/issues/1227>) * Document graph functions don't apply remap rules (#1225 <https://github.com/ros2/rclcpp/issues/1225>) * Remove recreation of entities_collector (#1217 <https://github.com/ros2/rclcpp/issues/1217>) * Contributors: Audrow Nash, Chen Lihui, Christophe Bedard, Daisuke Sato, Devin Bonnie, Dirk Thomas, Ivan Santiago Paunovic, Jacob Perron, Jannik Abbenseth, Jorge Perez, Pedro Pena, Shane Loretz, Stephen Brawner, Tomoya Fujita . ros-rolling-rclcpp (4.0.0-1jammy) jammy; urgency=high . * Fix rclcpp::NodeOptions::operator= (#1211 <https://github.com/ros2/rclcpp/issues/1211>) * Link against thread library where necessary (#1210 <https://github.com/ros2/rclcpp/issues/1210>) * Unit tests for node interfaces (#1202 <https://github.com/ros2/rclcpp/issues/1202>) * Remove usage of domain id in node options (#1205 <https://github.com/ros2/rclcpp/issues/1205>) * Remove deprecated set_on_parameters_set_callback function (#1199 <https://github.com/ros2/rclcpp/issues/1199>) * Fix conversion of negative durations to messages (#1188 <https://github.com/ros2/rclcpp/issues/1188>) * Fix implementation of NodeOptions::use_global_arguments() (#1176 <https://github.com/ros2/rclcpp/issues/1176>) * Bump to QD to level 3 and fixed links (#1158 <https://github.com/ros2/rclcpp/issues/1158>) * Fix pub/sub count API tests (#1203 <https://github.com/ros2/rclcpp/issues/1203>) * Update tracetools' QL to 2 in rclcpp's QD (#1187 <https://github.com/ros2/rclcpp/issues/1187>) * Fix exception message on rcl_clock_init (#1182 <https://github.com/ros2/rclcpp/issues/1182>) * Throw exception if rcl_timer_init fails (#1179 <https://github.com/ros2/rclcpp/issues/1179>) * Unit tests for some header-only functions/classes (#1181 <https://github.com/ros2/rclcpp/issues/1181>) * Callback should be perfectly-forwarded (#1183 <https://github.com/ros2/rclcpp/issues/1183>) * Add unit tests for logging functionality (#1184 <https://github.com/ros2/rclcpp/issues/1184>) * Add create_publisher include to create_subscription (#1180 <https://github.com/ros2/rclcpp/issues/1180>) * Contributors: Alejandro Hernández Cordero, Christophe Bedard, Claire Wang, Dirk Thomas, Ivan Santiago Paunovic, Johannes Meyer, Michel Hidalgo, Stephen Brawner, tomoya . ros-rolling-rclcpp (3.0.0-1jammy) jammy; urgency=high . * Check period duration in create_wall_timer (#1178 <https://github.com/ros2/rclcpp/issues/1178>) * Fix get_node_time_source_interface() docstring (#988 <https://github.com/ros2/rclcpp/issues/988>) * Add message lost subscription event (#1164 <https://github.com/ros2/rclcpp/issues/1164>) * Add spin_all method to Executor (#1156 <https://github.com/ros2/rclcpp/issues/1156>) * Reorganize test directory and split CMakeLists.txt (#1173 <https://github.com/ros2/rclcpp/issues/1173>) * Check if context is valid when looping in spin_some (#1167 <https://github.com/ros2/rclcpp/issues/1167>) * Add check for invalid topic statistics publish period (#1151 <https://github.com/ros2/rclcpp/issues/1151>) * Fix spin_until_future_complete: check spinning value (#1023 <https://github.com/ros2/rclcpp/issues/1023>) * Fix doxygen warnings (#1163 <https://github.com/ros2/rclcpp/issues/1163>) * Fix reference to rclcpp in its Quality declaration (#1161 <https://github.com/ros2/rclcpp/issues/1161>) * Allow spin_until_future_complete to accept any future like object (#1113 <https://github.com/ros2/rclcpp/issues/1113>) * Contributors: Alejandro Hernández Cordero, Christophe Bedard, Devin Bonnie, Dirk Thomas, DongheeYe, Ivan Santiago Paunovic, Jacob Perron, Sarthak Mittal, brawner, tomoya . ros-rolling-rclcpp (2.0.0-1jammy) jammy; urgency=high . * Added missing virtual destructors. (#1149 <https://github.com/ros2/rclcpp/issues/1149>) * Fixed a test which was using different types on the same topic. (#1150 <https://github.com/ros2/rclcpp/issues/1150>) * Made ``test_rate`` more reliable on Windows and improve error output when it fails (#1146 <https://github.com/ros2/rclcpp/issues/1146>) * Added Security Vulnerability Policy pointing to REP-2006. (#1130 <https://github.com/ros2/rclcpp/issues/1130>) * Added missing header in ``logging_mutex.cpp``. (#1145 <https://github.com/ros2/rclcpp/issues/1145>) * Changed the WaitSet API to pass a shared pointer by value instead than by const reference when possible. (#1141 <https://github.com/ros2/rclcpp/issues/1141>) * Changed ``SubscriptionBase::get_subscription_handle() const`` to return a shared pointer to const value. (#1140 <https://github.com/ros2/rclcpp/issues/1140>) * Extended the lifetime of ``rcl_publisher_t`` by holding onto the shared pointer in order to avoid a use after free situation. (#1119 <https://github.com/ros2/rclcpp/issues/1119>) * Improved some docblocks (#1127 <https://github.com/ros2/rclcpp/issues/1127>) * Fixed a lock-order-inversion (potential deadlock) (#1135 <https://github.com/ros2/rclcpp/issues/1135>) * Fixed a potential Construction/Destruction order problem between global contexts vector and Context of static lifetime (#1132 <https://github.com/ros2/rclcpp/issues/1132>) * Contributors: Alejandro Hernández Cordero, Chris Lalancette, Ivan Santiago Paunovic, Michel Hidalgo, tomoya . ros-rolling-rclcpp (1.1.0-1jammy) jammy; urgency=high . * Deprecate set_on_parameters_set_callback (#1123 <https://github.com/ros2/rclcpp/issues/1123>) * Expose get_service_names_and_types_by_node from rcl in rclcpp (#1131 <https://github.com/ros2/rclcpp/issues/1131>) * Fix thread safety issues related to logging (#1125 <https://github.com/ros2/rclcpp/issues/1125>) * Make sure rmw_publisher_options is initialized in to_rcl_publisher_options (#1099 <https://github.com/ros2/rclcpp/issues/1099>) * Remove empty lines within method signatures (#1128 <https://github.com/ros2/rclcpp/issues/1128>) * Add API review March 2020 document (#1031 <https://github.com/ros2/rclcpp/issues/1031>) * Improve documentation (#1106 <https://github.com/ros2/rclcpp/issues/1106>) * Make test multi threaded executor more reliable (#1105 <https://github.com/ros2/rclcpp/issues/1105>) * Fixed rep links and added more details to dependencies in quality declaration (#1116 <https://github.com/ros2/rclcpp/issues/1116>) * Update quality declarations to reflect version 1.0 (#1115 <https://github.com/ros2/rclcpp/issues/1115>) * Contributors: Alejandro Hernández Cordero, ChenYing Kuo, Claire Wang, Dirk Thomas, Ivan Santiago Paunovic, William Woodall, Stephen Brawner . ros-rolling-rclcpp (1.0.0-1jammy) jammy; urgency=high . * Remove MANUAL_BY_NODE liveliness API (#1107 <https://github.com/ros2/rclcpp/issues/1107>) * Use rosidl_default_generators dependency in test (#1114 <https://github.com/ros2/rclcpp/issues/1114>) * Make sure to include what you use (#1112 <https://github.com/ros2/rclcpp/issues/1112>) * Mark flaky test with xfail: TestMultiThreadedExecutor (#1109 <https://github.com/ros2/rclcpp/issues/1109>) * Contributors: Chris Lalancette, Ivan Santiago Paunovic, Karsten Knese, Louise Poubel . ros-rolling-rclcpp (0.9.1-1jammy) jammy; urgency=high . * Fix tests that were not properly torn down (#1073 <https://github.com/ros2/rclcpp/issues/1073>) * Added docblock in rclcpp (#1103 <https://github.com/ros2/rclcpp/issues/1103>) * Added Quality declaration: rclcpp, rclpp_action, rclcpp_components andrclcpp_lifecycle (#1100 <https://github.com/ros2/rclcpp/issues/1100>) * Use RCL_RET_SERVICE_TAKE_FAILED and not RCL_RET_CLIENT_TAKE_FAILED when checking a request take (#1101 <https://github.com/ros2/rclcpp/issues/1101>) * Update comment about return value in Executor::get_next_ready_executable (#1085 <https://github.com/ros2/rclcpp/issues/1085>) * Contributors: Alejandro Hernández Cordero, Christophe Bedard, Devin Bonnie, Ivan Santiago Paunovic . ros-rolling-rclcpp (0.9.0-1jammy) jammy; urgency=high . * Serialized message move constructor (#1097 <https://github.com/ros2/rclcpp/issues/1097>) * Enforce a precedence for wildcard matching in parameter overrides. (#1094 <https://github.com/ros2/rclcpp/issues/1094>) * Add serialized_message.hpp header (#1095 <https://github.com/ros2/rclcpp/issues/1095>) * Add received message age metric to topic statistics (#1080 <https://github.com/ros2/rclcpp/issues/1080>) * Deprecate redundant namespaces (#1083 <https://github.com/ros2/rclcpp/issues/1083>) * Export targets in addition to include directories / libraries (#1088 <https://github.com/ros2/rclcpp/issues/1088>) * Ensure logging is initialized just once (#998 <https://github.com/ros2/rclcpp/issues/998>) * Adapt subscription traits to rclcpp::SerializedMessage (#1092 <https://github.com/ros2/rclcpp/issues/1092>) * Protect subscriber_statistics_collectors_ with a mutex (#1084 <https://github.com/ros2/rclcpp/issues/1084>) * Remove unused test variable (#1087 <https://github.com/ros2/rclcpp/issues/1087>) * Use serialized message (#1081 <https://github.com/ros2/rclcpp/issues/1081>) * Integrate topic statistics (#1072 <https://github.com/ros2/rclcpp/issues/1072>) * Fix rclcpp interface traits test (#1086 <https://github.com/ros2/rclcpp/issues/1086>) * Generate node interfaces' getters and traits (#1069 <https://github.com/ros2/rclcpp/issues/1069>) * Use composition for serialized message (#1082 <https://github.com/ros2/rclcpp/issues/1082>) * Dnae adas/serialized message (#1075 <https://github.com/ros2/rclcpp/issues/1075>) * Reflect changes in rclcpp API (#1079 <https://github.com/ros2/rclcpp/issues/1079>) * Fix build regression (#1078 <https://github.com/ros2/rclcpp/issues/1078>) * Add NodeDefault option for enabling topic statistics (#1074 <https://github.com/ros2/rclcpp/issues/1074>) * Topic Statistics: Add SubscriptionTopicStatistics class (#1050 <https://github.com/ros2/rclcpp/issues/1050>) * Add SubscriptionOptions for topic statistics (#1057 <https://github.com/ros2/rclcpp/issues/1057>) * Remove warning message from failing to register default callback (#1067 <https://github.com/ros2/rclcpp/issues/1067>) * Create a default warning for qos incompatibility (#1051 <https://github.com/ros2/rclcpp/issues/1051>) * Add WaitSet class and modify entities to work without executor (#1047 <https://github.com/ros2/rclcpp/issues/1047>) * Include what you use (#1059 <https://github.com/ros2/rclcpp/issues/1059>) * Rename rosidl_generator_cpp namespace to rosidl_runtime_cpp (#1060 <https://github.com/ros2/rclcpp/issues/1060>) * Changed rosidl_generator_c/cpp to rosidl_runtime_c/cpp (#1014 <https://github.com/ros2/rclcpp/issues/1014>) * Use constexpr for endpoint type name (#1055 <https://github.com/ros2/rclcpp/issues/1055>) * Add InvalidParameterTypeException (#1027 <https://github.com/ros2/rclcpp/issues/1027>) * Support for ON_REQUESTED_INCOMPATIBLE_QOS and ON_OFFERED_INCOMPATIBLE_QOS events (#924 <https://github.com/ros2/rclcpp/issues/924>) * Fixup clang warning (#1040 <https://github.com/ros2/rclcpp/issues/1040>) * Adding a "static" single threaded executor (#1034 <https://github.com/ros2/rclcpp/issues/1034>) * Add equality operators for QoS profile (#1032 <https://github.com/ros2/rclcpp/issues/1032>) * Remove extra vertical whitespace (#1030 <https://github.com/ros2/rclcpp/issues/1030>) * Switch IntraProcessMessage to test_msgs/Empty (#1017 <https://github.com/ros2/rclcpp/issues/1017>) * Add new type of exception that may be thrown during creation of publisher/subscription (#1026 <https://github.com/ros2/rclcpp/issues/1026>) * Don't check lifespan on publisher QoS (#1002 <https://github.com/ros2/rclcpp/issues/1002>) * Fix get_parameter_tyeps of AsyncPrameterClient results are always empty (#1019 <https://github.com/ros2/rclcpp/issues/1019>) * Cleanup node interfaces includes (#1016 <https://github.com/ros2/rclcpp/issues/1016>) * Add ifdefs to remove tracing-related calls if tracing is disabled (#1001 <https://github.com/ros2/rclcpp/issues/1001>) * Include missing header in node_graph.cpp (#994 <https://github.com/ros2/rclcpp/issues/994>) * Add missing includes of logging.hpp (#995 <https://github.com/ros2/rclcpp/issues/995>) * Zero initialize publisher GID in subscription intra process callback (#1011 <https://github.com/ros2/rclcpp/issues/1011>) * Removed ament_cmake dependency (#989 <https://github.com/ros2/rclcpp/issues/989>) * Switch to using new rcutils_strerror (#993 <https://github.com/ros2/rclcpp/issues/993>) * Ensure all rclcpp::Clock accesses are thread-safe * Use a PIMPL for rclcpp::Clock implementation * Replace rmw_implementation for rmw dependency in package.xml (#990 <https://github.com/ros2/rclcpp/issues/990>) * Add missing service callback registration tracepoint (#986 <https://github.com/ros2/rclcpp/issues/986>) * Rename rmw_topic_endpoint_info_array count to size (#996 <https://github.com/ros2/rclcpp/issues/996>) * Implement functions to get publisher and subcription informations like QoS policies from topic name (#960 <https://github.com/ros2/rclcpp/issues/960>) * Code style only: wrap after open parenthesis if not in one line (#977 <https://github.com/ros2/rclcpp/issues/977>) * Accept taking an rvalue ref future in spin_until_future_complete (#971 <https://github.com/ros2/rclcpp/issues/971>) * Allow node clock use in logging macros (#969 <https://github.com/ros2/rclcpp/issues/969>) (#970 <https://github.com/ros2/rclcpp/issues/970>) * Change order of deprecated and visibility attributes (#968 <https://github.com/ros2/rclcpp/issues/968>) * Deprecated is_initialized() (#967 <https://github.com/ros2/rclcpp/issues/967>) * Don't specify calling convention in std::_Binder template (#952 <https://github.com/ros2/rclcpp/issues/952>) * Added missing include to logging.hpp (#964 <https://github.com/ros2/rclcpp/issues/964>) * Assigning make_shared result to variables in test (#963 <https://github.com/ros2/rclcpp/issues/963>) * Fix unused parameter warning (#962 <https://github.com/ros2/rclcpp/issues/962>) * Stop retaining ownership of the rcl context in GraphListener (#946 <https://github.com/ros2/rclcpp/issues/946>) * Clear sub contexts when starting another init-shutdown cycle (#947 <https://github.com/ros2/rclcpp/issues/947>) * Avoid possible UB in Clock jump callbacks (#954 <https://github.com/ros2/rclcpp/issues/954>) * Handle unknown global ROS arguments (#951 <https://github.com/ros2/rclcpp/issues/951>) * Mark get_clock() as override to fix clang warnings (#939 <https://github.com/ros2/rclcpp/issues/939>) * Create node clock calls const (try 2) (#922 <https://github.com/ros2/rclcpp/issues/922>) * Fix asserts on shared_ptr::use_count; expects long, got uint32 (#936 <https://github.com/ros2/rclcpp/issues/936>) * Use absolute topic name for parameter events (#929 <https://github.com/ros2/rclcpp/issues/929>) * Add enable_rosout into NodeOptions. (#900 <https://github.com/ros2/rclcpp/issues/900>) * Removing "virtual", adding "override" keywords (#897 <https://github.com/ros2/rclcpp/issues/897>) * Use weak_ptr to store context in GraphListener (#906 <https://github.com/ros2/rclcpp/issues/906>) * Complete published event message when declaring a parameter (#928 <https://github.com/ros2/rclcpp/issues/928>) * Fix duration.cpp lint error (#930 <https://github.com/ros2/rclcpp/issues/930>) * Intra-process subscriber should use RMW actual qos. (ros2`#913 <https://github.com/ros2/rclcpp/issues/913>`_) (#914 <https://github.com/ros2/rclcpp/issues/914>) * Type conversions fixes (#901 <https://github.com/ros2/rclcpp/issues/901>) * Add override keyword to functions * Remove unnecessary virtual keywords * Only check for new work once in spin_some (#471 <https://github.com/ros2/rclcpp/issues/471>) (#844 <https://github.com/ros2/rclcpp/issues/844>) * Add addition/subtraction assignment operators to Time (#748 <https://github.com/ros2/rclcpp/issues/748>) * Contributors: Alberto Soragna, Alejandro Hernández Cordero, Barry Xu, Chris Lalancette, Christophe Bedard, Claire Wang, Dan Rose, DensoADAS, Devin Bonnie, Dino Hüllmann, Dirk Thomas, DongheeYe, Emerson Knapp, Ivan Santiago Paunovic, Jacob Perron, Jaison Titus, Karsten Knese, Matt Schickler, Miaofei Mei, Michel Hidalgo, Mikael Arguedas, Monika Idzik, Prajakta Gokhale, Roger Strain, Scott K Logan, Sean Kelly, Stephen Brawner, Steven Macenski, Steven! Ragnarök, Todd Malsbary, Tomoya Fujita, William Woodall, Zachary Michaels . ros-rolling-rclcpp (0.8.3-1jammy) jammy; urgency=high . . . ros-rolling-rclcpp (0.8.2-1jammy) jammy; urgency=high . * Updated tracing logic to match changes in rclcpp's intra-process system (#918 <https://github.com/ros2/rclcpp/issues/918>) * Fixed a bug that prevented the ``shutdown_on_sigint`` option to not work correctly (#850 <https://github.com/ros2/rclcpp/issues/850>) * Added support for STREAM logging macros (#926 <https://github.com/ros2/rclcpp/issues/926>) * Relaxed multithreaded test constraint (#907 <https://github.com/ros2/rclcpp/issues/907>) * Contributors: Anas Abou Allaban, Christophe Bedard, Dirk Thomas, alexfneves . ros-rolling-rclcpp (0.8.1-1jammy) jammy; urgency=high . * De-flake tests for rmw_connext (#899 <https://github.com/ros2/rclcpp/issues/899>) * rename return functions for loaned messages (#896 <https://github.com/ros2/rclcpp/issues/896>) * Enable throttling logs (#879 <https://github.com/ros2/rclcpp/issues/879>) * New Intra-Process Communication (#778 <https://github.com/ros2/rclcpp/issues/778>) * Instrumentation update (#789 <https://github.com/ros2/rclcpp/issues/789>) * Zero copy api (#864 <https://github.com/ros2/rclcpp/issues/864>) * Drop rclcpp remove_ros_arguments_null test case. (#894 <https://github.com/ros2/rclcpp/issues/894>) * add mechanism to pass rmw impl specific payloads during pub/sub creation (#882 <https://github.com/ros2/rclcpp/issues/882>) * make get_actual_qos return a rclcpp::QoS (#883 <https://github.com/ros2/rclcpp/issues/883>) * Fix Compiler Warning (#881 <https://github.com/ros2/rclcpp/issues/881>) * Add callback handler for use_sim_time parameter #802 <https://github.com/ros2/rclcpp/issues/802> (#875 <https://github.com/ros2/rclcpp/issues/875>) * Contributors: Alberto Soragna, Brian Marchi, Hunter L. Allen, Ingo Lütkebohle, Karsten Knese, Michael Carroll, Michel Hidalgo, William Woodall . ros-rolling-rclcpp (0.8.0-1jammy) jammy; urgency=high . * clean up publisher and subscription creation logic (#867 <https://github.com/ros2/rclcpp/issues/867>) * Take parameter overrides provided through the CLI. (#865 <https://github.com/ros2/rclcpp/issues/865>) * add more context to exception message (#858 <https://github.com/ros2/rclcpp/issues/858>) * remove features and related code which were deprecated in dashing (#852 <https://github.com/ros2/rclcpp/issues/852>) * check valid timer handler 1st to reduce the time window for scan. (#841 <https://github.com/ros2/rclcpp/issues/841>) * Add throwing parameter name if parameter is not set (#833 <https://github.com/ros2/rclcpp/issues/833>) * Fix typo in deprecated warning. (#848 <https://github.com/ros2/rclcpp/issues/848>) * Fail on invalid and unknown ROS specific arguments (#842 <https://github.com/ros2/rclcpp/issues/842>) * Force explicit --ros-args in NodeOptions::arguments(). (#845 <https://github.com/ros2/rclcpp/issues/845>) * Use of -r/--remap flags where appropriate. (#834 <https://github.com/ros2/rclcpp/issues/834>) * Fix hang with timers in MultiThreadedExecutor (#835 <https://github.com/ros2/rclcpp/issues/835>) (#836 <https://github.com/ros2/rclcpp/issues/836>) * add mutex in add/remove_node and wait_for_work to protect concurrent use/change of memory_strategy_ (#837 <https://github.com/ros2/rclcpp/issues/837>) * Crash in callback group pointer vector iterator (#814 <https://github.com/ros2/rclcpp/issues/814>) * Wrap documentation examples in code blocks (#830 <https://github.com/ros2/rclcpp/issues/830>) * add callback group as member variable and constructor arg (#811 <https://github.com/ros2/rclcpp/issues/811>) * Fix get_node_interfaces functions taking a pointer (#821 <https://github.com/ros2/rclcpp/issues/821>) * Delete unnecessary call for get_node_by_group (#823 <https://github.com/ros2/rclcpp/issues/823>) * Allow passing logger by const ref (#820 <https://github.com/ros2/rclcpp/issues/820>) * Explain return value of spin_until_future_complete (#792 <https://github.com/ros2/rclcpp/issues/792>) * Adapt to '--ros-args ... [--]'-based ROS args extraction (#816 <https://github.com/ros2/rclcpp/issues/816>) * Add line break after first open paren in multiline function call (#785 <https://github.com/ros2/rclcpp/issues/785>) * remove mock msgs from rclcpp (#800 <https://github.com/ros2/rclcpp/issues/800>) * Make TimeSource ignore use_sim_time events coming from other nodes. (#799 <https://github.com/ros2/rclcpp/issues/799>) * Allow registering multiple on_parameters_set_callback (#772 <https://github.com/ros2/rclcpp/issues/772>) * Add free function for creating service clients (#788 <https://github.com/ros2/rclcpp/issues/788>) * Include missing rcl headers in use. (#782 <https://github.com/ros2/rclcpp/issues/782>) * Switch the NodeParameters lock to recursive. (#781 <https://github.com/ros2/rclcpp/issues/781>) * changed on_parameter_event qos profile to rmw_qos_profile_parameter_events (#774 <https://github.com/ros2/rclcpp/issues/774>) * Adding a factory method to create a Duration from seconds (#567 <https://github.com/ros2/rclcpp/issues/567>) * Fix a comparison with a sign mismatch (#771 <https://github.com/ros2/rclcpp/issues/771>) * delete superfluous spaces (#770 <https://github.com/ros2/rclcpp/issues/770>) * Use params from node '/**' from parameter YAML file (#762 <https://github.com/ros2/rclcpp/issues/762>) * Add ignore override argument to declare parameter (#767 <https://github.com/ros2/rclcpp/issues/767>) * use default parameter descriptor in parameters interface (#765 <https://github.com/ros2/rclcpp/issues/765>) * Added support for const member functions (#763 <https://github.com/ros2/rclcpp/issues/763>) * add get_actual_qos() feature to subscriptions (#754 <https://github.com/ros2/rclcpp/issues/754>) * Ignore parameters overrides in set parameter methods when allowing undeclared parameters (#756 <https://github.com/ros2/rclcpp/issues/756>) * Add rclcpp::create_timer() (#757 <https://github.com/ros2/rclcpp/issues/757>) * checking origin of intra-process msg before taking them (#753 <https://github.com/ros2/rclcpp/issues/753>) * Contributors: Alberto Soragna, Carl Delsey, Chris Lalancette, Dan Rose, Dirk Thomas, Esteve Fernandez, Guillaume Autran, Jacob Perron, Karsten Knese, Luca Della Vedova, M. M, Michel Hidalgo, Scott K Logan, Shane Loretz, Todd Malsbary, William Woodall, bpwilcox, fujitatomoya, ivanpauno . ros-rolling-rclcpp (0.7.5-1jammy) jammy; urgency=high . * Avoid 'Intra process message no longer being stored when trying to handle it' warning (#749 <https://github.com/ros2/rclcpp/issues/749>) * Contributors: ivanpauno . ros-rolling-rclcpp (0.7.4-1jammy) jammy; urgency=high . * Rename parameter options (#745 <https://github.com/ros2/rclcpp/issues/745>) * Bionic use of strerror_r (#742 <https://github.com/ros2/rclcpp/issues/742>) * Enforce parameter ranges (#735 <https://github.com/ros2/rclcpp/issues/735>) * removed not used parameter client (#740 <https://github.com/ros2/rclcpp/issues/740>) * ensure removal of guard conditions of expired nodes from memory strategy (#741 <https://github.com/ros2/rclcpp/issues/741>) * Fix typo in log warning message (#737 <https://github.com/ros2/rclcpp/issues/737>) * Throw nice errors when creating a publisher with intraprocess communication and incompatible qos policy (#729 <https://github.com/ros2/rclcpp/issues/729>) * Contributors: Alberto Soragna, Dirk Thomas, Jacob Perron, William Woodall, ivanpauno, roderick-koehle . ros-rolling-rclcpp (0.7.3-1jammy) jammy; urgency=high . * Fixed misspelling, volitile -> volatile (#724 <https://github.com/ros2/rclcpp/issues/724>), and then fixed that since it is a C++ keyword to be ``durability_volatile`` (#725 <https://github.com/ros2/rclcpp/issues/725>) * Fixed a clang warning (#723 <https://github.com/ros2/rclcpp/issues/723>) * Added ``on_parameter_event`` static method to the ``AsyncParametersClient`` (#688 <https://github.com/ros2/rclcpp/issues/688>) * Added a guard against ``ParameterNotDeclaredException`` throwing from within the parameter service callbacks. (#718 <https://github.com/ros2/rclcpp/issues/718>) * Added missing template functionality to lifecycle_node. (#707 <https://github.com/ros2/rclcpp/issues/707>) * Fixed heap-use-after-free and memory leaks reported from ``test_node.cpp`` (#719 <https://github.com/ros2/rclcpp/issues/719>) * Contributors: Alberto Soragna, Dirk Thomas, Emerson Knapp, Jacob Perron, Michael Jeronimo, Prajakta Gokhale . ros-rolling-rclcpp (0.7.2-1jammy) jammy; urgency=high . * Added new way to specify QoS settings for publishers and subscriptions. (#713 <https://github.com/ros2/rclcpp/issues/713>) * The new way requires that you specify a history depth when creating a publisher or subscription. * In the past it was possible to create one without specifying any history depth, but these signatures have been deprecated. * Deprecated ``shared_ptr`` and raw pointer versions of ``Publisher<T>::publish()``. (#709 <https://github.com/ros2/rclcpp/issues/709>) * Implemented API to set callbacks for liveliness and deadline QoS events for publishers and subscriptions. (#695 <https://github.com/ros2/rclcpp/issues/695>) * Fixed a segmentation fault when publishing a parameter event when they ought to be disabled. (#714 <https://github.com/ros2/rclcpp/issues/714>) * Changes required for upcoming pre-allocation API. (#711 <https://github.com/ros2/rclcpp/issues/711>) * Changed ``Node::get_node_names()`` to return the full node names rather than just the base name. (#698 <https://github.com/ros2/rclcpp/issues/698>) * Remove logic made redundant by the ros2/rcl#255 <https://github.com/ros2/rcl/issues/255> pull request. (#712 <https://github.com/ros2/rclcpp/issues/712>) * Various improvements for ``rclcpp::Clock``. (#696 <https://github.com/ros2/rclcpp/issues/696>) * Fixed uninitialized bool in ``clock.cpp``. * Fixed up includes of ``clock.hpp/cpp``. * Added documentation for exceptions to ``clock.hpp``. * Adjusted function signature of getters of ``clock.hpp/cpp``. * Removed raw pointers to ``Clock::create_jump_callback``. * Removed unnecessary ``rclcpp`` namespace reference from ``clock.cpp``. * Changed exception to ``bad_alloc`` on ``JumpHandler`` allocation failure. * Fixed missing ``nullptr`` check in ``Clock::on_time_jump``. * Added ``JumpHandler::callback`` types. * Added warning for lifetime of Clock and JumpHandler * Fixed bug left over from the pull request #495 <https://github.com/ros2/rclcpp/pull/495>. (#708 <https://github.com/ros2/rclcpp/issues/708>) * Changed the ``IntraProcessManager`` to be capable of storing ``shared_ptr<const T>`` in addition to ``unique_ptr<T>``. (#690 <https://github.com/ros2/rclcpp/issues/690>) * Contributors: Alberto Soragna, Dima Dorezyuk, M. M, Michael Carroll, Michael Jeronimo, Tully Foote, William Woodall, ivanpauno, jhdcs . ros-rolling-rclcpp (0.7.1-1jammy) jammy; urgency=high . * Added read only parameters. (#495 <https://github.com/ros2/rclcpp/issues/495>) * Fixed a concurrency problem in the multithreaded executor. (#703 <https://github.com/ros2/rclcpp/issues/703>) * Fixup utilities. (#692 <https://github.com/ros2/rclcpp/issues/692>) * Added method to read timer cancellation. (#697 <https://github.com/ros2/rclcpp/issues/697>) * Added Exception Generator function for implementing "from_rcl_error". (#678 <https://github.com/ros2/rclcpp/issues/678>) * Updated initialization of rmw_qos_profile_t struct instances. (#691 <https://github.com/ros2/rclcpp/issues/691>) * Removed the const value from the logger before comparison. (#680 <https://github.com/ros2/rclcpp/issues/680>) * Contributors: Devin Bonnie, Dima Dorezyuk, Guillaume Autran, M. M, Shane Loretz, Víctor Mayoral Vilches, William Woodall, jhdcs . ros-rolling-rclcpp (0.7.0-1jammy) jammy; urgency=high . * Added Options-struct interfaces for creating publishers/subscribers (pre-QoS, standalone). (#673 <https://github.com/ros2/rclcpp/issues/673>) * Replaced strncpy with memcpy. (#684 <https://github.com/ros2/rclcpp/issues/684>) * Replaced const char * with a std::array<char, TOPIC_NAME_LENGTH> as the key of IPM IDTopicMap. (#671 <https://github.com/ros2/rclcpp/issues/671>) * Refactored SignalHandler logger to avoid race during destruction. (#682 <https://github.com/ros2/rclcpp/issues/682>) * Introduce rclcpp_components to implement composition. (#665 <https://github.com/ros2/rclcpp/issues/665>) * Added QoS policy check when configuring intraprocess, skip interprocess publish when possible. (#674 <https://github.com/ros2/rclcpp/issues/674>) * Updated to use do { .. } while(0) around content of logging macros. (#681 <https://github.com/ros2/rclcpp/issues/681>) * Added function to get publisher's actual QoS settings. (#667 <https://github.com/ros2/rclcpp/issues/667>) * Updated to avoid race that triggers timer too often. (#621 <https://github.com/ros2/rclcpp/issues/621>) * Exposed get_fully_qualified_name in NodeBase API. (#662 <https://github.com/ros2/rclcpp/issues/662>) * Updated to use ament_target_dependencies where possible. (#659 <https://github.com/ros2/rclcpp/issues/659>) * Fixed wait for service memory leak bug. (#656 <https://github.com/ros2/rclcpp/issues/656>) * Fixed test_time_source test. (#639 <https://github.com/ros2/rclcpp/issues/639>) * Fixed hard-coded duration type representation so int64_t isn't assumed. (#648 <https://github.com/ros2/rclcpp/issues/648>) * Fixed cppcheck warning. (#646 <https://github.com/ros2/rclcpp/issues/646>) * Added count matching api and intra-process subscriber count. (#628 <https://github.com/ros2/rclcpp/issues/628>) * Added Sub Node alternative. (#581 <https://github.com/ros2/rclcpp/issues/581>) * Replaced 'auto' with 'const auto &'. (#630 <https://github.com/ros2/rclcpp/issues/630>) * Se…

msmcconnell · 2022-10-21T18:42:35Z

@clalancette anyway this can be backported to foxy? My team has started to see issues from #1212.

clalancette · 2022-10-21T18:58:33Z

@clalancette anyway this can be backported to foxy? My team has started to see issues from #1212.

Definitely not as it is; it breaks both API and ABI. If you can figure out a way to backport it without breaking those, we can consider it.

msmcconnell · 2022-10-24T13:09:56Z

Ok, I figured it was unlikely. Thanks for confirming.

ros-discourse · 2024-05-21T15:48:28Z

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/ros-2-client-library-working-group-update/37307/10

audrow added the bug Something isn't working label Jul 27, 2020

audrow self-assigned this Jul 27, 2020

audrow mentioned this pull request Jul 27, 2020

Add take_data method to Waitable class #1235

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audrow marked this pull request as ready for review July 28, 2020 22:24

audrow requested a review from wjwwood July 28, 2020 22:25

audrow mentioned this pull request Jul 28, 2020

Modify to match Waitable interface adding take_data ros2/system_tests#444

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ivanpauno mentioned this pull request Aug 12, 2020

Fix error when SubscriptionIntraProcess is being executed more than once by the MultiThreadedExecutor #1275

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audrow mentioned this pull request Aug 12, 2020

Redesigning the MultiThreadedExecutor #1276

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audrow force-pushed the audrow/add-take-data-to-waitable--any-exec branch from a48af91 to b92110a Compare August 18, 2020 22:44

ivanpauno mentioned this pull request Oct 5, 2020

Timers being executed more than once by the multithread executor #1374

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ivanpauno mentioned this pull request Oct 13, 2020

"Executing action client but nothing is ready" exception thrown when client sends goal #1399

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ivanpauno and others added 3 commits November 10, 2020 14:18

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Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com> Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>

Modify exception message, add stdexcept

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Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

Return std::shared_ptr<void>, instead of taking it as an argument

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Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

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rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp Outdated Show resolved Hide resolved

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Address peer review comments

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Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>

ivanpauno mentioned this pull request Nov 17, 2020

[Galactic] Add note about waitable API break ros2/ros2_documentation#906

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ivanpauno merged commit 8c8c268 into master Nov 17, 2020

delete-merged-branch bot deleted the audrow/add-take-data-to-waitable--any-exec branch November 17, 2020 14:42

fujitatomoya mentioned this pull request Nov 18, 2020

avoid the same action client executable is being executed more than once. #1409

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sloretz mentioned this pull request Nov 25, 2020

test_publisher run_event_handler test fails with CycloneDDS #1475

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This was referenced Jan 14, 2021

Publishing is slow in Docker with MutliThreadedExecutor #1487

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Fix error when using IPC with StaticSingleThreadExecutor #1520

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ivanpauno mentioned this pull request Jun 11, 2021

Use a different mechanism to avoid timers being scheduled multiple times by the MultiThreadedExecutor #1692

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Blast545 mentioned this pull request Jan 24, 2022

👨‍🌾 multi_access_publisher_intra_process test failing ros2/system_tests#487

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Add `take_data` to `Waitable` and `data` to `AnyExecutable` #1241

Add `take_data` to `Waitable` and `data` to `AnyExecutable` #1241

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Add take_data to Waitable and data to AnyExecutable #1241

Add take_data to Waitable and data to AnyExecutable #1241

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Add `take_data` to `Waitable` and `data` to `AnyExecutable` #1241

Add `take_data` to `Waitable` and `data` to `AnyExecutable` #1241

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