Adding parameter array support #443

ayrton04 · 2018-02-20T19:51:22Z

This PR includes the following:

Addition of parameter variants for byte arrays, bool arrays, int arrays, double arrays, and string arrays
Some method rearranging to match the enumeration in ParameterType.msg
Added a common method for printing arrays of values. Booleans print as true/false, and bytes are printed as hexadecimal with a 0x prefix.
I added tests for each parameter variant

mikaelarguedas · 2018-02-20T20:06:22Z

Thanks @ayrton04, as mentionned offline this should be the only set of changes we need for now. We could think of updating ros2param accordingly but I don't think it's worth the effort as ros2param will be replaced by a python version in the near future (and already doesnt support byte arrays anyway).

Thanks for the contribution and the tests! We'll try to review this soon

mikaelarguedas

Sorry for taking so long to review this @ayrton04.

This looks good overall, I have a few comments inline, mostly style related.
I made come changes on this branch to fix the build on windows.

Some tests are still failing on windows though: https://ci.ros2.org/job/ci_windows/4229/testReport. Do you happen to have a windows environment to look into it?

mikaelarguedas · 2018-03-21T00:57:02Z

rclcpp/include/rclcpp/parameter.hpp

-  RCLCPP_PUBLIC
-  std::string
-  value_to_string() const;
+  std::string value_to_string() const;


Can you explain the motivation behind this change ? (removing the macro declaring that function as public)

Actually this change breaks the build on windows and should be reverted (https://ci.ros2.org/job/ci_windows/4228/)

That appears to be the result of some poor merging on my part. Will fix.

mikaelarguedas · 2018-03-21T00:58:42Z

rclcpp/src/rclcpp/parameter.cpp

@@ -189,10 +277,11 @@ ParameterVariant::to_parameter()
  return parameter;
 }

-std::string
-ParameterVariant::value_to_string() const
+std::string ParameterVariant::value_to_string() const


Nitpick: please keep the existing style of return value on its own line

mikaelarguedas · 2018-03-21T01:17:12Z

rclcpp/test/test_parameter.cpp

+
+  EXPECT_EQ(double_variant.value_to_string(), "-42.100000");
+
+  const float TEST_VALUE_F {static_cast<float>(-TEST_VALUE)};


is the - on purpose here ? Reusing the value used for the double but by performing operations on it appears to be a bit confusing to me. I also had to double check that the float_variant tests were actually independent of the double_variant as it's tested in the middle of the double_variant tests.
We could either test both the float_variant and the double_variant from message. Or just move the float test either a the very beginning of this test or into it's own test to avoid confusion

This is in here because float and double arrays get mapped to the same parameter type. I meant to follow the same pattern as above, with ints and long ints. Will review.

I was also trying to kill two birds with one stone: check that floats work, but also check for negative values.

Would you prefer that all variants, even when mapped to the same array type, have their own tests?

mikaelarguedas · 2018-03-21T02:09:45Z

rclcpp/CMakeLists.txt

@@ -191,6 +191,16 @@ if(BUILD_TESTING)
    target_link_libraries(test_node ${PROJECT_NAME})
  endif()
  ament_add_gtest(test_parameter_events_filter test/test_parameter_events_filter.cpp)
+  ament_add_gtest(test_parameter test/test_parameter.cpp)


Nit: this bloc should be added after the test_parameter_events_filter target check

ayrton04

Thanks for the feedback. I do have a Windows partition that occasionally sees the light of day. I can try building there.

ayrton04 · 2018-03-21T07:45:40Z

rclcpp/CMakeLists.txt

@@ -191,6 +191,16 @@ if(BUILD_TESTING)
    target_link_libraries(test_node ${PROJECT_NAME})
  endif()
  ament_add_gtest(test_parameter_events_filter test/test_parameter_events_filter.cpp)
+  ament_add_gtest(test_parameter test/test_parameter.cpp)


ayrton04 · 2018-03-21T07:46:19Z

rclcpp/include/rclcpp/parameter.hpp

-  RCLCPP_PUBLIC
-  std::string
-  value_to_string() const;
+  std::string value_to_string() const;


That appears to be the result of some poor merging on my part. Will fix.

ayrton04 · 2018-03-21T07:47:04Z

rclcpp/src/rclcpp/parameter.cpp

@@ -189,10 +277,11 @@ ParameterVariant::to_parameter()
  return parameter;
 }

-std::string
-ParameterVariant::value_to_string() const
+std::string ParameterVariant::value_to_string() const


ayrton04 · 2018-03-21T07:52:48Z

rclcpp/test/test_parameter.cpp

+
+  EXPECT_EQ(double_variant.value_to_string(), "-42.100000");
+
+  const float TEST_VALUE_F {static_cast<float>(-TEST_VALUE)};


This is in here because float and double arrays get mapped to the same parameter type. I meant to follow the same pattern as above, with ints and long ints. Will review.

I was also trying to kill two birds with one stone: check that floats work, but also check for negative values.

Would you prefer that all variants, even when mapped to the same array type, have their own tests?

ayrton04 · 2018-03-21T11:45:39Z

OK, I didn't try in Windows yet, but I'm hoping I figured out the issue anyway. I was doing this previously:

const auto mismatches_get_param = std::mismatch(TEST_VALUE.begin(), TEST_VALUE.end(),
  integer_array_variant.get_parameter_value().integer_array_value.begin());
EXPECT_EQ(mismatches_get_param.first, TEST_VALUE.end());
EXPECT_EQ(mismatches_get_param.second,	
  integer_array_variant.get_parameter_value().integer_array_value.end());

But get_parameter_value returns value_, a member variable, so that should be returning a copy. Since I call the method twice, I get a different copy. Not sure why it was passing in Linux. I suppose the first one went out of scope, so when we asked for it again, we got the same chunk of memory.

Anyway, I changed that. I also explicitly separated out tests for float/double and integer/long integer types.

mikaelarguedas · 2018-03-21T15:36:30Z

Thanks @ayrton04 for the quick follow-up, it looks good. I pushed another style fix and am running CI now to see if all platforms are happy with the change.

Linux
Linux-aarch64
macOS
Windows

ayrton04 · 2018-03-21T15:37:00Z

Great, thanks for that. Sorry about the flipped gtest params.

mikaelarguedas · 2018-03-21T17:59:19Z

Sorry about the flipped gtest params

No worries, sed did most of the work :)

This change seems to have broken some communication tests on all platforms (list below).
I'm going to kill the jobs until we figure out what the issue and have a fix to test. I'll keep the arm job running to narrow down if the failures are only when talking between different rmw implementations.

 82% tests passed, 44 tests failed out of 241
 92 - test_publisher_subscriber__BoundedArrayNested__rclcpp__rclpy__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
 93 - test_publisher_subscriber__BoundedArrayPrimitives__rclcpp__rclpy__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
 94 - test_publisher_subscriber__Builtins__rclcpp__rclpy__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
 95 - test_publisher_subscriber__DynamicArrayNested__rclcpp__rclpy__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
 96 - test_publisher_subscriber__DynamicArrayPrimitives__rclcpp__rclpy__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
 97 - test_publisher_subscriber__DynamicArrayPrimitivesNested__rclcpp__rclpy__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
 98 - test_publisher_subscriber__Empty__rclcpp__rclpy__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
 99 - test_publisher_subscriber__Nested__rclcpp__rclpy__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
100 - test_publisher_subscriber__Primitives__rclcpp__rclpy__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
101 - test_publisher_subscriber__StaticArrayNested__rclcpp__rclpy__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
102 - test_publisher_subscriber__StaticArrayPrimitives__rclcpp__rclpy__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
105 - test_publisher_subscriber__BoundedArrayNested__rclcpp__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
106 - test_publisher_subscriber__BoundedArrayPrimitives__rclcpp__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
107 - test_publisher_subscriber__Builtins__rclcpp__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
108 - test_publisher_subscriber__DynamicArrayNested__rclcpp__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
109 - test_publisher_subscriber__DynamicArrayPrimitives__rclcpp__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
110 - test_publisher_subscriber__DynamicArrayPrimitivesNested__rclcpp__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
111 - test_publisher_subscriber__Empty__rclcpp__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
112 - test_publisher_subscriber__Nested__rclcpp__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
113 - test_publisher_subscriber__Primitives__rclcpp__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
114 - test_publisher_subscriber__StaticArrayNested__rclcpp__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
115 - test_publisher_subscriber__StaticArrayPrimitives__rclcpp__rmw_connext_cpp__rmw_fastrtps_cpp (Timeout)
144 - test_publisher_subscriber__BoundedArrayNested__rclpy__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
145 - test_publisher_subscriber__BoundedArrayPrimitives__rclpy__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
146 - test_publisher_subscriber__Builtins__rclpy__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
147 - test_publisher_subscriber__DynamicArrayNested__rclpy__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
148 - test_publisher_subscriber__DynamicArrayPrimitives__rclpy__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
149 - test_publisher_subscriber__DynamicArrayPrimitivesNested__rclpy__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
150 - test_publisher_subscriber__Empty__rclpy__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
151 - test_publisher_subscriber__Nested__rclpy__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
152 - test_publisher_subscriber__Primitives__rclpy__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
153 - test_publisher_subscriber__StaticArrayNested__rclpy__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
154 - test_publisher_subscriber__StaticArrayPrimitives__rclpy__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
170 - test_publisher_subscriber__BoundedArrayNested__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
171 - test_publisher_subscriber__BoundedArrayPrimitives__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
172 - test_publisher_subscriber__Builtins__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
173 - test_publisher_subscriber__DynamicArrayNested__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
174 - test_publisher_subscriber__DynamicArrayPrimitives__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
175 - test_publisher_subscriber__DynamicArrayPrimitivesNested__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
176 - test_publisher_subscriber__Empty__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
177 - test_publisher_subscriber__Nested__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
178 - test_publisher_subscriber__Primitives__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
179 - test_publisher_subscriber__StaticArrayNested__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)
180 - test_publisher_subscriber__StaticArrayPrimitives__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp (Timeout)

Edit:
Notes to self:

Issue happens only when Fast-RTPS and Connext are involved.
Only when services are enable, a simply Python pub sub using the same message type works fine
FastRTPS throws error at discovery time about payload being bigger than default history size.
It uses the default of 5000 bytes, if the default memory strategy for the history of the endpoints is to reallocate the issue doesn't happen
Haven't seen a way to pass the memory strategy to the Participant creation functions to work around it

Stack trace with break point each time the default history attributes are used:

#0  eprosima::fastrtps::rtps::HistoryAttributes::HistoryAttributes (
    this=0x7fffffff2360)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/include/fastrtps/rtps/history/../attributes/HistoryAttributes.h:47
#1  0x00007ffff41c8fe3 in eprosima::fastrtps::rtps::PDPSimple::createSPDPEndpoints (this=0x74a020)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp:421
#2  0x00007ffff41c7973 in eprosima::fastrtps::rtps::PDPSimple::initPDP (
    this=0x74a020, part=0x747980)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp:168
#3  0x00007ffff41c61d2 in eprosima::fastrtps::rtps::BuiltinProtocols::initBuiltinProtocols (this=0x749de0, p_part=0x747980, attributes=...)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/builtin/BuiltinProtocols.cpp:74
#4  0x00007ffff416f0bc in eprosima::fastrtps::rtps::RTPSParticipantImpl::RTPSParticipantImpl (this=0x747980, PParam=..., guidP=..., par=0x7478b0, 
    plisten=0x747560)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/---Type <return> to continue, or q <return> to quit---
participant/RTPSParticipantImpl.cpp:332
#5  0x00007ffff41779b5 in eprosima::fastrtps::rtps::RTPSDomain::createParticipant (PParam=..., listen=0x747560)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/RTPSDomain.cpp:145
#6  0x00007ffff417a1b5 in eprosima::fastrtps::Domain::createParticipant (att=..., listen=0x7472f0)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/Domain.cpp:137
#7  0x00007ffff47af9a4 in create_node (name=0x7fffffff3f70 "listener", namespace_=0x7ffff749c8c2 "/", participantAttrs=...)
    at /home/mikael/work/ros2/current_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_cpp/src/rmw_node.cpp:84
#8  0x00007ffff47b0871 in rmw_create_node (name=0x7fffffff3f70 "listener", namespace_=0x7ffff749c8c2 "/", domain_id=42, security_options=0x7fffffff3b30)
    at /home/mikael/work/ros2/current_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_cpp/src/rmw_node.cpp:277
#9  0x00007ffff62f70bb in rmw_create_node (v4=0x7fffffff3f70 "listener", v3=0x7ffff749c8c2 "/", v2=42, v1=0x7fffffff3b30)
    at /home/mikael/work/ros2/current_ws/src/ros2/rmw_implementation/rmw_implementation/src/functions.cpp:222
#10 0x00007ffff748d0e2 in rcl_node_init (node=0x7471a0, name=0x7fffffff3f70 "listener", namespace_=0x7fffffff3f90 "", options=0x7fffffff3c90)
    at /home/mikael/work/ros2/current_ws/src/ros2/rcl/rcl/src/rcl/node.c:331
#11 0x00007ffff7a79e05 in rclcpp::node_interfaces::NodeBase::NodeBase (this=0x7470c0, node_name="listener", namespace_="", 
    context=std::shared_ptr (expired, weak 0) 0x7fffffff3e30)
    at /home/mikael/work/ros2/current_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_base.cpp:92
#12 0x00007ffff7a77021 in rclcpp::Node::Node (this=0x746f80, node_name="listener", namespace_="", 
    context=std::shared_ptr (expired, weak 0) 0x7fffffff3eb0, use_intra_process_comms=false)
    at /home/mikael/work/ros2/current_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:54
#13 0x00007ffff7a76f11 in rclcpp::Node::Node (this=0x746f80, node_name="listener", namespace_="", use_intra_process_comms=false)
    at /home/mikael/work/ros2/current_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:46
#14 0x000000000040c607 in Listener::Listener (this=0x746f80, topic_name="chatter")
    at /home/mikael/work/ros2/current_ws/src/ros2/demos/demo_nodes_cpp/src/topics/listener.cpp:39
#15 0x00000000004150c0 in __gnu_cxx::new_allocator<Listener>::construct<Listener, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x7fffffff40c7, __p=0x746f80) at /usr/include/c++/5/ext/new_allocator.h:120
#16 0x00000000004145fa in std::allocator_traits<std::allocator<Listener> >::construct<Listener, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (__a=..., __p=0x746f80) at /usr/include/c++/5/bits/alloc_traits.h:530
#17 0x00000000004133a8 in std::_Sp_counted_ptr_inplace<Listener, std::allocator<Listener>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x746f70, __a=...) at /usr/include/c++/5/bits/shared_ptr_base.h:522
#18 0x0000000000411ccf in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<Listener, std::allocator<Listener>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x7fffffff4288, __a=...) at /usr/include/c++/5/bits/shared_ptr_base.h:617
#19 0x00000000004105ee in std::__shared_ptr<Listener, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<Listener>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x7fffffff4280, __tag=..., __a=...) at /usr/include/c++/5/bits/shared_ptr_base.h:1097
#20 0x000000000040ec64 in std::shared_ptr<Listener>::shared_ptr<std::allocator<Listener>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x7fffffff4280, __tag=..., __a=...) at /usr/include/c++/5/bits/shared_ptr.h:319
#21 0x000000000040d704 in std::allocate_shared<Listener, std::allocator<Listener>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (__a=...) at /usr/include/c++/5/bits/shared_ptr.h:620
#22 0x000000000040ce2b in std::make_shared<Listener, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> ()
    at /usr/include/c++/5/bits/shared_ptr.h:636
#23 0x000000000040bdac in main (argc=1, argv=0x7fffffff43e8) at /home/mikael/work/ros2/current_ws/src/ros2/demos/demo_nodes_cpp/src/topics/listener.cpp:82
(gdb) continue
Continuing.
[New Thread 0x7ffff0979700 (LWP 25039)]

Thread 1 "listener" hit Breakpoint 2, eprosima::fastrtps::rtps::HistoryAttributes::HistoryAttributes (this=0x7fffffff2350)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/include/fastrtps/rtps/history/../attributes/HistoryAttributes.h:47
47	    {}


(gdb) bt
#0  eprosima::fastrtps::rtps::HistoryAttributes::HistoryAttributes (this=0x7fffffff2350)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/include/fastrtps/rtps/history/../attributes/HistoryAttributes.h:47
#1  0x00007ffff41d87d7 in eprosima::fastrtps::rtps::EDPSimple::createSEDPEndpoints (this=0x938b40)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp:112
#2  0x00007ffff41d8659 in eprosima::fastrtps::rtps::EDPSimple::initEDP (this=0x938b40, attributes=...)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/builtin/discovery/endpoint/EDPSimple.cpp:98
#3  0x00007ffff41c7bfc in eprosima::fastrtps::rtps::PDPSimple::initPDP (this=0x74a020, part=0x747980)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/builtin/discovery/participant/PDPSimple.cpp:188
#4  0x00007ffff41c61d2 in eprosima::fastrtps::rtps::BuiltinProtocols::initBuiltinProtocols (this=0x749de0, p_part=0x747980, attributes=...)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/builtin/BuiltinProtocols.cpp:74
#5  0x00007ffff416f0bc in eprosima::fastrtps::rtps::RTPSParticipantImpl::RTPSParticipantImpl (this=0x747980, PParam=..., guidP=..., par=0x7478b0, 
    plisten=0x747560) at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/participant/RTPSParticipantImpl.cpp:332
#6  0x00007ffff41779b5 in eprosima::fastrtps::rtps::RTPSDomain::createParticipant (PParam=..., listen=0x747560)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/RTPSDomain.cpp:145
#7  0x00007ffff417a1b5 in eprosima::fastrtps::Domain::createParticipant (att=..., listen=0x7472f0)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/Domain.cpp:137
#8  0x00007ffff47af9a4 in create_node (name=0x7fffffff3f70 "listener", namespace_=0x7ffff749c8c2 "/", participantAttrs=...)
    at /home/mikael/work/ros2/current_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_cpp/src/rmw_node.cpp:84
#9  0x00007ffff47b0871 in rmw_create_node (name=0x7fffffff3f70 "listener", namespace_=0x7ffff749c8c2 "/", domain_id=42, security_options=0x7fffffff3b30)
    at /home/mikael/work/ros2/current_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_cpp/src/rmw_node.cpp:277
#10 0x00007ffff62f70bb in rmw_create_node (v4=0x7fffffff3f70 "listener", v3=0x7ffff749c8c2 "/", v2=42, v1=0x7fffffff3b30)
    at /home/mikael/work/ros2/current_ws/src/ros2/rmw_implementation/rmw_implementation/src/functions.cpp:222
#11 0x00007ffff748d0e2 in rcl_node_init (node=0x7471a0, name=0x7fffffff3f70 "listener", namespace_=0x7fffffff3f90 "", options=0x7fffffff3c90)
    at /home/mikael/work/ros2/current_ws/src/ros2/rcl/rcl/src/rcl/node.c:331
#12 0x00007ffff7a79e05 in rclcpp::node_interfaces::NodeBase::NodeBase (this=0x7470c0, node_name="listener", namespace_="", 
    context=std::shared_ptr (expired, weak 0) 0x7fffffff3e30)
    at /home/mikael/work/ros2/current_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_base.cpp:92
#13 0x00007ffff7a77021 in rclcpp::Node::Node (this=0x746f80, node_name="listener", namespace_="", 
    context=std::shared_ptr (expired, weak 0) 0x7fffffff3eb0, use_intra_process_comms=false)
    at /home/mikael/work/ros2/current_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:54
#14 0x00007ffff7a76f11 in rclcpp::Node::Node (this=0x746f80, node_name="listener", namespace_="", use_intra_process_comms=false)
    at /home/mikael/work/ros2/current_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:46
#15 0x000000000040c607 in Listener::Listener (this=0x746f80, topic_name="chatter")
    at /home/mikael/work/ros2/current_ws/src/ros2/demos/demo_nodes_cpp/src/topics/listener.cpp:39
#16 0x00000000004150c0 in __gnu_cxx::new_allocator<Listener>::construct<Listener, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x7fffffff40c7, __p=0x746f80) at /usr/include/c++/5/ext/new_allocator.h:120
#17 0x00000000004145fa in std::allocator_traits<std::allocator<Listener> >::construct<Listener, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (__a=..., __p=0x746f80) at /usr/include/c++/5/bits/alloc_traits.h:530
#18 0x00000000004133a8 in std::_Sp_counted_ptr_inplace<Listener, std::allocator<Listener>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x746f70, __a=...) at /usr/include/c++/5/bits/shared_ptr_base.h:522
#19 0x0000000000411ccf in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<Listener, std::allocator<Listener>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x7fffffff4288, __a=...) at /usr/include/c++/5/bits/shared_ptr_base.h:617
#20 0x00000000004105ee in std::__shared_ptr<Listener, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<Listener>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x7fffffff4280, __tag=..., __a=...) at /usr/include/c++/5/bits/shared_ptr_base.h:1097
#21 0x000000000040ec64 in std::shared_ptr<Listener>::shared_ptr<std::allocator<Listener>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x7fffffff4280, __tag=..., __a=...) at /usr/include/c++/5/bits/shared_ptr.h:319
#22 0x000000000040d704 in std::allocate_shared<Listener, std::allocator<Listener>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (__a=...) at /usr/include/c++/5/bits/shared_ptr.h:620
#23 0x000000000040ce2b in std::make_shared<Listener, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> ()
    at /usr/include/c++/5/bits/shared_ptr.h:636
#24 0x000000000040bdac in main (argc=1, argv=0x7fffffff43e8) at /home/mikael/work/ros2/current_ws/src/ros2/demos/demo_nodes_cpp/src/topics/listener.cpp:82
(gdb) continue 
Continuing.

Thread 1 "listener" hit Breakpoint 2, eprosima::fastrtps::rtps::HistoryAttributes::HistoryAttributes (this=0x7fffffff2550)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/include/fastrtps/rtps/history/../attributes/HistoryAttributes.h:47
47	    {}



(gdb) bt
#0  eprosima::fastrtps::rtps::HistoryAttributes::HistoryAttributes (
    this=0x7fffffff2550)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/include/fastrtps/rtps/history/../attributes/HistoryAttributes.h:47
#1  0x00007ffff41dfce1 in eprosima::fastrtps::rtps::WLP::createEndpoints (
    this=0xc00d10)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/builtin/liveliness/WLP.cpp:87
#2  0x00007ffff41dfcac in eprosima::fastrtps::rtps::WLP::initWL (
    this=0xc00d10, p=0x747980)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/builtin/liveliness/WLP.cpp:81
#3  0x00007ffff41c630f in eprosima::fastrtps::rtps::BuiltinProtocols::initBuiltinProtocols (this=0x749de0, p_part=0x747980, attributes=...)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/builtin/BuiltinProtocols.cpp:81
#4  0x00007ffff416f0bc in eprosima::fastrtps::rtps::RTPSParticipantImpl::RTPSParticipantImpl (this=0x747980, PParam=..., guidP=..., par=0x7478b0, 
    plisten=0x747560)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/---Type <return> to continue, or q <return> to quit---
participant/RTPSParticipantImpl.cpp:332
#5  0x00007ffff41779b5 in eprosima::fastrtps::rtps::RTPSDomain::createParticipant (PParam=..., listen=0x747560)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/rtps/RTPSDomain.cpp:145
#6  0x00007ffff417a1b5 in eprosima::fastrtps::Domain::createParticipant (att=..., listen=0x7472f0)
    at /home/mikael/work/ros2/current_ws/src/eProsima/Fast-RTPS/src/cpp/Domain.cpp:137
#7  0x00007ffff47af9a4 in create_node (name=0x7fffffff3f70 "listener", namespace_=0x7ffff749c8c2 "/", participantAttrs=...)
    at /home/mikael/work/ros2/current_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_cpp/src/rmw_node.cpp:84
#8  0x00007ffff47b0871 in rmw_create_node (name=0x7fffffff3f70 "listener", namespace_=0x7ffff749c8c2 "/", domain_id=42, security_options=0x7fffffff3b30)
    at /home/mikael/work/ros2/current_ws/src/ros2/rmw_fastrtps/rmw_fastrtps_cpp/src/rmw_node.cpp:277
#9  0x00007ffff62f70bb in rmw_create_node (v4=0x7fffffff3f70 "listener", v3=0x7ffff749c8c2 "/", v2=42, v1=0x7fffffff3b30)
    at /home/mikael/work/ros2/current_ws/src/ros2/rmw_implementation/rmw_implementation/src/functions.cpp:222
#10 0x00007ffff748d0e2 in rcl_node_init (node=0x7471a0, name=0x7fffffff3f70 "listener", namespace_=0x7fffffff3f90 "", options=0x7fffffff3c90)
    at /home/mikael/work/ros2/current_ws/src/ros2/rcl/rcl/src/rcl/node.c:331
#11 0x00007ffff7a79e05 in rclcpp::node_interfaces::NodeBase::NodeBase (this=0x7470c0, node_name="listener", namespace_="", 
    context=std::shared_ptr (expired, weak 0) 0x7fffffff3e30)
    at /home/mikael/work/ros2/current_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_base.cpp:92
#12 0x00007ffff7a77021 in rclcpp::Node::Node (this=0x746f80, node_name="listener", namespace_="", 
    context=std::shared_ptr (expired, weak 0) 0x7fffffff3eb0, use_intra_process_comms=false)
    at /home/mikael/work/ros2/current_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:54
#13 0x00007ffff7a76f11 in rclcpp::Node::Node (this=0x746f80, node_name="listener", namespace_="", use_intra_process_comms=false)
    at /home/mikael/work/ros2/current_ws/src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:46
#14 0x000000000040c607 in Listener::Listener (this=0x746f80, topic_name="chatter")
    at /home/mikael/work/ros2/current_ws/src/ros2/demos/demo_nodes_cpp/src/topics/listener.cpp:39
#15 0x00000000004150c0 in __gnu_cxx::new_allocator<Listener>::construct<Listener, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x7fffffff40c7, __p=0x746f80) at /usr/include/c++/5/ext/new_allocator.h:120
#16 0x00000000004145fa in std::allocator_traits<std::allocator<Listener> >::construct<Listener, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (__a=..., __p=0x746f80) at /usr/include/c++/5/bits/alloc_traits.h:530
#17 0x00000000004133a8 in std::_Sp_counted_ptr_inplace<Listener, std::allocator<Listener>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x746f70, __a=...) at /usr/include/c++/5/bits/shared_ptr_base.h:522
#18 0x0000000000411ccf in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<Listener, std::allocator<Listener>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x7fffffff4288, __a=...) at /usr/include/c++/5/bits/shared_ptr_base.h:617
#19 0x00000000004105ee in std::__shared_ptr<Listener, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<Listener>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x7fffffff4280, __tag=..., __a=...) at /usr/include/c++/5/bits/shared_ptr_base.h:1097
#20 0x000000000040ec64 in std::shared_ptr<Listener>::shared_ptr<std::allocator<Listener>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (this=0x7fffffff4280, __tag=..., __a=...) at /usr/include/c++/5/bits/shared_ptr.h:319
#21 0x000000000040d704 in std::allocate_shared<Listener, std::allocator<Listener>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> (__a=...) at /usr/include/c++/5/bits/shared_ptr.h:620
#22 0x000000000040ce2b in std::make_shared<Listener, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&> ()
    at /usr/include/c++/5/bits/shared_ptr.h:636
#23 0x000000000040bdac in main (argc=1, argv=0x7fffffff43e8) at /home/mikael/work/ros2/current_ws/src/ros2/demos/demo_nodes_cpp/src/topics/listener.cpp:82
(gdb) continue

mikaelarguedas · 2018-03-21T19:42:52Z

It looks like when it's only Fast-RTPS talking to itself it works.
I can reproduce the failures locally when trying to get Connext to talk to Fast-RTPS. Do you happen to have a way to test that configuration?

ayrton04 · 2018-03-22T07:41:45Z

I can't say that I do, no. My workspace contains really only what I required to get this to build and pass its tests. I'm not familiar with the RMW, but am happy to do what I can to investigate.

ayrton04 · 2018-03-22T08:36:41Z

I just ran the test_communication tests locally, and they all passed, but then I don't have Connext. The OpenSplice/Fast-RTPS tests appear to be fine, though:

100% tests passed, 0 tests failed out of 241

Label Time Summary:
copyright     =   0.43 sec (1 test)
cppcheck      =   0.54 sec (1 test)
cpplint       =   0.91 sec (1 test)
flake8        =   0.65 sec (1 test)
gtest         =  16.39 sec (2 tests)
lint_cmake    =   0.38 sec (1 test)
linter        =   3.99 sec (7 tests)
pep257        =   0.45 sec (1 test)
pytest        = 371.78 sec (208 tests)
uncrustify    =   0.63 sec (1 test)

ayrton04 · 2018-04-24T10:42:47Z

Just checking in. Is there anything I could be doing on my end to aid in fixing the issue?

mikaelarguedas · 2018-05-09T17:40:44Z

Just checking in. Is there anything I could be doing on my end to aid in fixing the issue?

Sorry for the delay, now that the underlying issue has been resolved (ros2/rmw_connext#288), we can move forward on this. I just pushed a rebased version of this branch that I'll use for testing and CI

ayrton04 · 2018-05-09T18:22:23Z

Nice! Thanks for the info. Let me know if I can assist in any way.

mikaelarguedas · 2018-05-10T00:35:07Z

The code still looks good to me 👍

Linux
Linux-aarch64
macOS
Windows

Debug:

Linux
Linux-aarch64
macOS
Windows

With demos using parameter arrays from ros2/demos#235:

Linux
Linux-aarch64
macOS
Windows

mikaelarguedas

thanks @ayrton04 !

ayrton04 · 2018-05-10T15:21:21Z

Any time!

mikaelarguedas · 2018-05-10T23:06:33Z

Thanks @ayrton04 for the feature addition and the patience 👍

Signed-off-by: Abby Xu <abbyxu@amazon.com>

mikaelarguedas added the in review Waiting for review (Kanban column) label Mar 12, 2018

mikaelarguedas self-requested a review March 14, 2018 20:18

mikaelarguedas added this to the bouncy milestone Mar 15, 2018

mikaelarguedas force-pushed the parameter-arrays branch from f70c7ef to e074e6d Compare March 21, 2018 00:37

mikaelarguedas reviewed Mar 21, 2018

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ayrton04 commented Mar 21, 2018

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sloretz mentioned this pull request May 9, 2018

Disable non-standard TypeCode ros2/rmw_connext#288

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ayrton04 and others added 4 commits May 9, 2018 10:39

Adding parameter array support

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Matching changes in upstream branch

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EXPECT_EQ takes expected value a first argument and actual as second

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mikaelarguedas force-pushed the parameter-arrays branch from f2a2904 to 0fdccfe Compare May 9, 2018 17:39

mikaelarguedas mentioned this pull request May 10, 2018

Add some parameter arrays to set_and_get_parameters tests ros2/demos#235

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mikaelarguedas self-assigned this May 10, 2018

mikaelarguedas approved these changes May 10, 2018

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mikaelarguedas merged commit 15d505e into ros2:master May 10, 2018

mikaelarguedas removed the in review Waiting for review (Kanban column) label May 10, 2018

ayrton04 deleted the parameter-arrays branch May 14, 2018 05:40

nnmm pushed a commit to ApexAI/rclcpp that referenced this pull request Jul 9, 2022

fix leak in test_client (ros2#443)

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Signed-off-by: Abby Xu <abbyxu@amazon.com>

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Adding parameter array support #443

Adding parameter array support #443

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		EXPECT_EQ(double_variant.value_to_string(), "-42.100000");

		const float TEST_VALUE_F {static_cast<float>(-TEST_VALUE)};

Adding parameter array support #443

Adding parameter array support #443

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