Added count matching api and intra-process subscriber count #628

ivanpauno · 2019-02-12T15:15:47Z

Related with the second task of ros2/ros2#649

I have added:

Public api in publishers to get the subscriber count
Internal method in publishers, to get intra-process subscriber count.
Added method in the intra-process manager, related with the previous point.
Modified setup intrapocess method in publishers.
Added public api for publisher count in subscribers.
Tests checking all the counts
Added code to remove subscribers and publisher from the intraprocess manager

…t intra-process subscriptions Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

mjcarroll · 2019-02-12T18:31:24Z

rclcpp/include/rclcpp/intra_process_manager_impl.hpp

@@ -248,6 +251,26 @@ class IntraProcessManagerImpl : public IntraProcessManagerImplBase
    return false;
  }

+  size_t
+  get_subscription_count(uint64_t id) const


The arguments should have the same names, for consistency.

mjcarroll · 2019-02-12T18:32:24Z

rclcpp/include/rclcpp/publisher.hpp

@@ -188,7 +197,22 @@ class Publisher : public PublisherBase
  virtual void
  publish(std::unique_ptr<MessageT, MessageDeleter> & msg)
  {
-    this->do_inter_process_publish(msg.get());
+    size_t inter_process_subscritpion_count;


Correct spelling of subscription

mjcarroll · 2019-02-12T18:33:50Z

rclcpp/src/rclcpp/publisher.cpp

+size_t
+PublisherBase::get_subscription_count() const
+{
+  size_t inter_process_subscritpion_count = 0;


mjcarroll · 2019-02-12T18:34:08Z

rclcpp/test/test_publisher_subscriber_count_api.cpp

@@ -0,0 +1,89 @@
+// Copyright 2017 Open Source Robotics Foundation, Inc.


mjcarroll · 2019-02-12T18:35:23Z

rclcpp/test/test_publisher_subscriber_count_api.cpp

+  EXPECT_EQ(publisher->get_subscription_count(), 2u);
+  EXPECT_EQ(
+    reinterpret_cast<MyPublisher *>(publisher.get())->get_intraprocess_subscription_count(), 1u);
+}


Can we add additional tests for the interprocess subscription counts as well?

You should be able to create publishers and subscribers that aren't part of the same context and are not using the IntraProcessManager.

hidmic

Left a couple comments! Thanks @ivanpauno.

hidmic · 2019-02-12T18:41:18Z

rclcpp/include/rclcpp/intra_process_manager_impl.hpp

+    }
+    auto sub_map_it = subscription_ids_by_topic_.find(publisher->get_topic_name());
+    if (sub_map_it == subscription_ids_by_topic_.end()) {
+      // No intraprocess subscriberes


@ivanpauno subscriberes -> subscribers.

hidmic · 2019-02-12T18:43:46Z

rclcpp/include/rclcpp/publisher.hpp

+    size_t inter_process_subscritpion_count;
+    size_t intra_process_subscritpion_count = 0;
+
+    inter_process_subscritpion_count = this->get_subscription_count();


@ivanpauno inter_process_subscritpion_count -> inter_process_subscription_count.

Also, consider declaring and initializing in the same statement.

hidmic · 2019-02-12T18:44:46Z

rclcpp/include/rclcpp/publisher.hpp

+    inter_process_subscritpion_count = this->get_subscription_count();
+
+    if (get_intra_process_subscription_count_) {
+      intra_process_subscritpion_count = \


@ivanpauno I think that backslash is unnecessary.

hidmic · 2019-02-12T18:45:23Z

rclcpp/include/rclcpp/publisher.hpp

        if (rcl_publisher_is_valid_except_context(&intra_process_publisher_handle_)) {
          rcl_context_t * context = rcl_publisher_get_context(&intra_process_publisher_handle_);
          if (nullptr != context && !rcl_context_is_valid(context)) {
-            // publisher is invalid due to context being shutdown
+            /* publisher is invalid due to context being shutdown */


@ivanpauno why the change in comment syntax? I'd rather stick to the previous one.

hidmic · 2019-02-12T18:49:53Z

rclcpp/test/test_publisher_subscriber_count_api.cpp

+  auto publisher = node->create_publisher<IntraProcessMessage>("/topic");
+  EXPECT_EQ(publisher->get_subscription_count(), 0u);
+  EXPECT_EQ(
+    reinterpret_cast<MyPublisher *>(publisher.get())->get_intraprocess_subscription_count(), 0u);


@ivanpauno that's an interesting way of monkey patching a C++ class, but I'd rather not do that.

I did this to avoid doing get_intraprocess_subscription_count method public. Maybe, we can just make it public, and avoid the monkey patching. @mjcarroll @hidmic opinions?

hidmic · 2019-02-12T18:52:09Z

rclcpp/src/rclcpp/node_interfaces/node_topics.cpp

+    auto count_callback = std::bind(
+      &rclcpp::intra_process_manager::IntraProcessManager::get_subscription_count,
+      ipm.get(),
+      std::placeholders::_1);


@ivanpauno meta: would it make for the publisher to keep a reference to the IPM instead of using a bound method like this?

sharronliu · 2019-02-13T03:30:00Z

rclcpp/test/test_publisher_subscriber_count_api.cpp

+  EXPECT_EQ(publisher->get_subscription_count(), 2u);
+  EXPECT_EQ(
+    reinterpret_cast<MyPublisher *>(publisher.get())->get_intraprocess_subscription_count(), 1u);
+}


Can we also add test for decreasing subscription count?

ivanpauno · 2019-02-13T18:17:09Z

@mjcarroll @hidmic @sharronliu I have addressed all the comments.
get_intraprocess_subscription_count is still a protected method. Maybe, I can make it public and avoid patching PublisherBase class in the test.
Also, I have added an extra checking in get_intra_process_subscription_count_ if ipm was out of scope (replied the same thing it was done with store_intra_process_message_ callback)

mjcarroll · 2019-02-14T16:11:08Z

@ivanpauno I believe that you need to rebase and --signoff these commits to appease DCO.

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

… api. Minimal modifications in test Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

… publishers and subscribers from ipm. Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

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

ivanpauno · 2019-02-15T12:45:51Z

@mjcarroll @hidmic This is ready for a new review, as it has some changes.

Added the publisher count api in subscribers (and test)
Moved intraprocess subscription count method to public. Stopped bounding it.
Realized that subscribers and publishers were never removed from the intra process manager, added code doing that (thanks @sharronliu, I realized when adding the decreasing count test).

hidmic

Left some more comments. This is looking good Ivan!

rclcpp/include/rclcpp/publisher.hpp

hidmic · 2019-02-15T13:22:07Z

rclcpp/include/rclcpp/subscription.hpp

@@ -272,10 +288,13 @@ class Subscription : public SubscriptionBase
  using MatchesAnyPublishersCallbackType = std::function<bool (const rmw_gid_t *)>;

  /// Implemenation detail.
+  // TODO(ivanpauno): This can be moved to the base class. No reason to be here.
+  //  Also get_intra_process_message_callback_ and matches_any_intra_process_publishers_


@ivanpauno extra space at the beginning and missing period at the end.

hidmic · 2019-02-15T13:23:42Z

rclcpp/src/rclcpp/publisher.cpp

+
+  auto ipm = weak_ipm_.lock();
+  if (!ipm) {
+    // TODO(ivanpauno): should this raise an error?


@ivanpauno well, the publisher isn't necessarily using intra-process communication. We need another flag to know whether this should log an error or not.

As this is called in the destructor, it could happens that the ipm have already gone out of the scope first (I'm not sure, but it sounds reasonable). So, I don't think rising an error is a good idea.
If we want to raise an error, we need an extra flag.

@ivanpauno Looks like here we should be using the use_intra_process_ flag as well to know whether this should be treated as an error or not.

hidmic · 2019-02-15T13:24:06Z

rclcpp/src/rclcpp/publisher.cpp

+{
+  size_t inter_process_subscription_count = 0;
+
+  auto status = rcl_publisher_get_subscription_count(


@ivanpauno I'd rather using the full type instead of auto.

hidmic · 2019-02-15T13:26:35Z

rclcpp/src/rclcpp/subscription.cpp

+{
+  size_t inter_process_publisher_count = 0;
+
+  auto status = rcl_subscription_get_publisher_count(


@ivanpauno I'd rather use the full type instead of auto.

hidmic · 2019-02-15T13:28:52Z

rclcpp/src/rclcpp/publisher.cpp

+PublisherBase::get_intra_process_subscription_count() const
+{
+  auto ipm = weak_ipm_.lock();
+  if (!ipm) {


@ivanpauno I'm not sure this is the right thing to do. Correct me if I'm wrong, but wouldn't ipm be nullptr if the publisher was not setup to use intra-process communication? Even if we think that throwing is better than returning 0, the exception message may be misleading.

Yes right, I will check again. Maybe adding an extra flag as commented before.

hidmic · 2019-02-15T13:30:37Z

rclcpp/test/test_publisher_subscription_count_api.cpp

+   Testing publisher subscription count api and internal process subscription count.
+   Two subscriptions in same using intra-process comm.
+ */
+TEST_F(TestPublisherSubscriptionCount, test_two_intra_comm) {


@ivanpauno consider gtest parameterized tests instead of re-implementing their functionality.

hidmic · 2019-02-15T13:31:02Z

rclcpp/test/test_subscription_publisher_count_api.cpp

+   Testing subscription publisher count api.
+   One context.
+ */
+TEST_F(TestSubscriptionPublisherCount, test_one_context) {


@ivanpauno same as above about parameterized tests.

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

ivanpauno · 2019-02-15T21:09:34Z

@hidmic addressed all your comments.

CI:

Linux
Linux-aarch64
macOS
Windows

hidmic

Almost there, one last change!

hidmic · 2019-02-18T21:04:53Z

rclcpp/test/test_subscription_publisher_count_api.cpp

+INSTANTIATE_TEST_CASE_P(
+  TestWithDifferentNodeOptions,
+  TestSubscriptionPublisherCount,
+  ::testing::ValuesIn(parameters), );


@ivanpauno looks like something is missing at the end of the macro, check here.

hidmic · 2019-02-18T21:05:03Z

rclcpp/test/test_publisher_subscription_count_api.cpp

+INSTANTIATE_TEST_CASE_P(
+  TestWithDifferentNodeOptions,
+  TestPublisherSubscriptionCount,
+  ::testing::ValuesIn(parameters), );


@ivanpauno looks like something is missing at the end of the macro, check here.

hidmic · 2019-02-18T21:05:53Z

rclcpp/test/test_publisher_subscription_count_api.cpp

+{
+  rclcpp::NodeOptions node_options[2];
+  uint64_t intraprocess_count_results[2];
+};


@ivanpauno this struct is missing the stream operator overload.

hidmic · 2019-02-18T21:06:58Z

rclcpp/src/rclcpp/publisher.cpp

+
+  auto ipm = weak_ipm_.lock();
+  if (!ipm) {
+    // TODO(ivanpauno): should this raise an error?


@ivanpauno Looks like here we should be using the use_intra_process_ flag as well to know whether this should be treated as an error or not.

hidmic · 2019-02-18T21:07:36Z

rclcpp/src/rclcpp/subscription.cpp

@@ -80,6 +81,12 @@ SubscriptionBase::SubscriptionBase(

 SubscriptionBase::~SubscriptionBase()
 {
+  auto ipm = weak_ipm_.lock();
+  if (!ipm) {
+    // TODO(ivanpauno): should this raise an error?


@ivanpauno consider having a flag for subscribers too to decide whether we should throw or not.

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

ivanpauno · 2019-02-19T20:33:21Z

@hidmic done.
CI:

Linux
Linux-aarch64
macOS
Windows

ivanpauno · 2019-02-19T22:31:15Z

Sorry, I didn't realize of a local -Wreorder warning.
Again CI:

Linux
Linux-aarch64
macOS
Windows

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

ivanpauno · 2019-02-20T13:49:16Z

Only signed commit in last push, last CI is fine. @hidmic merge?

hidmic

LGTM!

hidmic · 2019-02-20T14:22:51Z

If @mjcarroll is OK with it, I'd say go ahead and squash merge.

* Added count matching api to publishers. Also, internal method to count intra-process subscriptions Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com> * Addressed PR comments Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com> * Corrected error checking in publisher interprocess subscription count api. Minimal modifications in test Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com> * Moved intraprocess subscription count api to public. Started removing publishers and subscribers from ipm. Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com> * Added publisher count api in subscription class Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com> * Addressed PR comments Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com> * Addressed PR comments Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com> * Solved Wreorder Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

ros-rolling-rclcpp (16.0.1-1jammy) jammy; urgency=high . * remove DEFINE_CONTENT_FILTER cmake option (#1914 <https://github.com/ros2/rclcpp/issues/1914>) * Contributors: Chen Lihui . ros-rolling-rclcpp (16.0.0-1jammy) jammy; urgency=high . * remove things that were deprecated during galactic (#1913 <https://github.com/ros2/rclcpp/issues/1913>) * Contributors: William Woodall . ros-rolling-rclcpp (15.4.0-1jammy) jammy; urgency=high . * add take_data_by_entity_id API to waitable (#1892 <https://github.com/ros2/rclcpp/issues/1892>) * add content-filtered-topic interfaces (#1561 <https://github.com/ros2/rclcpp/issues/1561>) * Contributors: Alberto Soragna, Chen Lihui . ros-rolling-rclcpp (15.3.0-1jammy) jammy; urgency=high . * [NodeParameters] Set name in param info pre-check (#1908 <https://github.com/ros2/rclcpp/issues/1908>) * Add test-dep ament_cmake_google_benchmark (#1904 <https://github.com/ros2/rclcpp/issues/1904>) * Add publish by loaned message in GenericPublisher (#1856 <https://github.com/ros2/rclcpp/issues/1856>) * Contributors: Abrar Rahman Protyasha, Barry Xu, Gaël Écorchard . ros-rolling-rclcpp (15.2.0-1jammy) jammy; urgency=high . * Add missing ament dependency on rcl_interfaces (#1903 <https://github.com/ros2/rclcpp/issues/1903>) * Update data callback tests to account for all published samples (#1900 <https://github.com/ros2/rclcpp/issues/1900>) * Increase timeout for acknowledgments to account for slower Connext settings (#1901 <https://github.com/ros2/rclcpp/issues/1901>) * clang-tidy: explicit constructors (#1782 <https://github.com/ros2/rclcpp/issues/1782>) * Add client/service QoS getters (#1784 <https://github.com/ros2/rclcpp/issues/1784>) * Fix a bunch more rosdoc2 issues in rclcpp. (#1897 <https://github.com/ros2/rclcpp/issues/1897>) * time_until_trigger returns max time if timer is cancelled (#1893 <https://github.com/ros2/rclcpp/issues/1893>) * Micro-optimizations in rclcpp (#1896 <https://github.com/ros2/rclcpp/issues/1896>) * Contributors: Andrea Sorbini, Chris Lalancette, Mauro Passerino, Scott K Logan, William Woodall . ros-rolling-rclcpp (15.1.0-1jammy) jammy; urgency=high . * spin_all with a zero timeout. (#1878 <https://github.com/ros2/rclcpp/issues/1878>) * Add RMW listener APIs (#1579 <https://github.com/ros2/rclcpp/issues/1579>) * Remove fastrtps customization on tests (#1887 <https://github.com/ros2/rclcpp/issues/1887>) * Install headers to include/${PROJECT_NAME} (#1888 <https://github.com/ros2/rclcpp/issues/1888>) * Use ament_generate_version_header (#1886 <https://github.com/ros2/rclcpp/issues/1886>) * use universal reference to support rvalue. (#1883 <https://github.com/ros2/rclcpp/issues/1883>) * fix one subscription can wait_for_message twice (#1870 <https://github.com/ros2/rclcpp/issues/1870>) * Add return value version of get_parameter_or (#1813 <https://github.com/ros2/rclcpp/issues/1813>) * Cleanup time source object lifetimes (#1867 <https://github.com/ros2/rclcpp/issues/1867>) * add is_spinning() method to executor base class * Contributors: Alberto Soragna, Chen Lihui, Chris Lalancette, Kenji Miyake, Miguel Company, Shane Loretz, Tomoya Fujita, iRobot ROS . ros-rolling-rclcpp (15.0.0-1jammy) jammy; urgency=high . * Cleanup the TypeAdapt tests (#1858 <https://github.com/ros2/rclcpp/issues/1858>) * Cleanup includes (#1857 <https://github.com/ros2/rclcpp/issues/1857>) * Fix include order and relative paths for cpplint (#1859 <https://github.com/ros2/rclcpp/issues/1859>) * Rename stringstream in macros to a more unique name (#1862 <https://github.com/ros2/rclcpp/issues/1862>) * Add non transform capabilities for intra-process (#1849 <https://github.com/ros2/rclcpp/issues/1849>) * Fix rclcpp documentation build (#1779 <https://github.com/ros2/rclcpp/issues/1779>) * Contributors: Chris Lalancette, Doug Smith, Gonzo, Jacob Perron, Michel Hidalgo . ros-rolling-rclcpp (14.1.0-1jammy) jammy; urgency=high . * Use UninitializedStaticallyTypedParameterException (#1689 <https://github.com/ros2/rclcpp/issues/1689>) * Add wait_for_all_acked support (#1662 <https://github.com/ros2/rclcpp/issues/1662>) * Add tests for function templates of declare_parameter (#1747 <https://github.com/ros2/rclcpp/issues/1747>) * Contributors: Barry Xu, Bi0T1N, M. Mostafa Farzan . ros-rolling-rclcpp (14.0.0-1jammy) jammy; urgency=high . * Fixes for uncrustify 0.72 (#1844 <https://github.com/ros2/rclcpp/issues/1844>) * use private member to keep the all reference underneath. (#1845 <https://github.com/ros2/rclcpp/issues/1845>) * Make node base sharable (#1832 <https://github.com/ros2/rclcpp/issues/1832>) * Add Clock::sleep_for() (#1828 <https://github.com/ros2/rclcpp/issues/1828>) * Synchronize rcl and std::chrono steady clocks in Clock::sleep_until (#1830 <https://github.com/ros2/rclcpp/issues/1830>) * Use rclcpp::guard_condition (#1612 <https://github.com/ros2/rclcpp/issues/1612>) * Call CMake function to generate version header (#1805 <https://github.com/ros2/rclcpp/issues/1805>) * Use parantheses around logging macro parameter (#1820 <https://github.com/ros2/rclcpp/issues/1820>) * Remove author by request (#1818 <https://github.com/ros2/rclcpp/issues/1818>) * Update maintainers (#1817 <https://github.com/ros2/rclcpp/issues/1817>) * min_forward & min_backward thresholds must not be disabled (#1815 <https://github.com/ros2/rclcpp/issues/1815>) * Re-add Clock::sleep_until (#1814 <https://github.com/ros2/rclcpp/issues/1814>) * Fix lifetime of context so it remains alive while its dependent node handles are still in use (#1754 <https://github.com/ros2/rclcpp/issues/1754>) * Add the interface for pre-shutdown callback (#1714 <https://github.com/ros2/rclcpp/issues/1714>) * Take message ownership from moved LoanedMessage (#1808 <https://github.com/ros2/rclcpp/issues/1808>) * Suppress clang dead-store warnings in the benchmarks. (#1802 <https://github.com/ros2/rclcpp/issues/1802>) * Wait for publisher and subscription to match (#1777 <https://github.com/ros2/rclcpp/issues/1777>) * Fix unused QoS profile for clock subscription and make ClockQoS the default (#1801 <https://github.com/ros2/rclcpp/issues/1801>) * Contributors: Abrar Rahman Protyasha, Barry Xu, Chen Lihui, Chris Lalancette, Grey, Jacob Perron, Nikolai Morin, Shane Loretz, Tomoya Fujita, mauropasse . ros-rolling-rclcpp (13.1.0-1jammy) jammy; urgency=high . * Fix dangerous std::bind capture in TimeSource implementation. (#1768 <https://github.com/ros2/rclcpp/issues/1768>) * Fix dangerous std::bind capture in ParameterEventHandler implementation. (#1770 <https://github.com/ros2/rclcpp/issues/1770>) * Handle sigterm, in the same way sigint is being handled. (#1771 <https://github.com/ros2/rclcpp/issues/1771>) * rclcpp::Node copy constructor: make copy of node_waitables_ member. (#1799 <https://github.com/ros2/rclcpp/issues/1799>) * Extend NodeGraph to match what rcl provides. (#1484 <https://github.com/ros2/rclcpp/issues/1484>) * Context::sleep_for(): replace recursion with do-while to avoid potential stack-overflow. (#1765 <https://github.com/ros2/rclcpp/issues/1765>) * extend_sub_namespace(): Verify string::empty() before calling string::front(). (#1764 <https://github.com/ros2/rclcpp/issues/1764>) * Deprecate the void shared_ptr<MessageT> subscription callback signatures. (#1713 <https://github.com/ros2/rclcpp/issues/1713>) * Contributors: Abrar Rahman Protyasha, Chris Lalancette, Emerson Knapp, Geoffrey Biggs, Ivan Santiago Paunovic, Jorge Perez, Tomoya Fujita, William Woodall, Yong-Hao Zou, livanov93 . ros-rolling-rclcpp (13.0.0-1jammy) jammy; urgency=high . * Remove can_be_nullptr assignment check for QNX case. (#1752 <https://github.com/ros2/rclcpp/issues/1752>) * Update client API to be able to remove pending requests. (#1734 <https://github.com/ros2/rclcpp/issues/1734>) * Fix: Allow to add a node while spinning in the StaticSingleThreadedExecutor. (#1690 <https://github.com/ros2/rclcpp/issues/1690>) * Add tracing instrumentation for executor and message taking. (#1738 <https://github.com/ros2/rclcpp/issues/1738>) * Fix: Reset timer trigger time before execute in StaticSingleThreadedExecutor. (#1739 <https://github.com/ros2/rclcpp/issues/1739>) * Use FindPython3 and make python3 dependency explicit. (#1745 <https://github.com/ros2/rclcpp/issues/1745>) * Use rosidl_get_typesupport_target(). (#1729 <https://github.com/ros2/rclcpp/issues/1729>) * Fix returning invalid namespace if sub_namespace is empty. (#1658 <https://github.com/ros2/rclcpp/issues/1658>) * Add free function to wait for a subscription message. (#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…

* Update CHANGELOG * 0.6.0 Signed-off-by: Emerson Knapp <eknapp@amazon.com>

Added count matching api to publishers. Also, internal method to coun…

5b8bae0

…t intra-process subscriptions Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

ivanpauno added the in progress Actively being worked on (Kanban column) label Feb 12, 2019

ivanpauno self-assigned this Feb 12, 2019

ivanpauno requested review from mjcarroll and hidmic February 12, 2019 15:15

mjcarroll mentioned this pull request Feb 12, 2019

Ideas for changes to the migration guide ros2/design#56

Open

4 tasks

mjcarroll reviewed Feb 12, 2019

View reviewed changes

hidmic requested changes Feb 12, 2019

View reviewed changes

sharronliu reviewed Feb 13, 2019

View reviewed changes

ivanpauno added 4 commits February 15, 2019 09:41

Addressed PR comments

16d1a76

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

Corrected error checking in publisher interprocess subscription count…

be7492b

… api. Minimal modifications in test Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

Moved intraprocess subscription count api to public. Started removing…

9c9ba34

… publishers and subscribers from ipm. Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

Added publisher count api in subscription class

11e37e1

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

ivanpauno force-pushed the ivanpauno/match-count-api-and-intraprocess-subscribers branch from 3d92375 to 11e37e1 Compare February 15, 2019 12:41

ivanpauno added in review Waiting for review (Kanban column) and removed in progress Actively being worked on (Kanban column) labels Feb 15, 2019

hidmic requested changes Feb 15, 2019

View reviewed changes

Addressed PR comments

cbd7240

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

hidmic requested changes Feb 18, 2019

View reviewed changes

Addressed PR comments

490a6f4

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

ivanpauno force-pushed the ivanpauno/match-count-api-and-intraprocess-subscribers branch from 1e03be6 to 490a6f4 Compare February 19, 2019 20:29

Solved Wreorder

cd556df

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

ivanpauno force-pushed the ivanpauno/match-count-api-and-intraprocess-subscribers branch from 544b1d3 to cd556df Compare February 20, 2019 13:47

hidmic approved these changes Feb 20, 2019

View reviewed changes

ivanpauno merged commit 8743bcb into master Feb 21, 2019

ivanpauno removed the in review Waiting for review (Kanban column) label Feb 21, 2019

ivanpauno deleted the ivanpauno/match-count-api-and-intraprocess-subscribers branch February 21, 2019 17:18

ivanpauno mentioned this pull request Mar 13, 2019

Expose matched subscriber count for publishers #623

Closed

ivanpauno mentioned this pull request May 3, 2019

Fix a bug when publishing unique_ptr #504

Closed

mjcarroll mentioned this pull request May 16, 2019

Improve intraprocess communication behavior ros2/ros2#649

Closed

3 tasks

Edholm mentioned this pull request Mar 10, 2022

Expose subscriber and publisher counts tiiuae/rclgo#11

Closed

DensoADAS pushed a commit to DensoADAS/rclcpp that referenced this pull request Aug 5, 2022

Prepare bloom release 0.6.0 (ros2#628)

7548a04

* Update CHANGELOG * 0.6.0 Signed-off-by: Emerson Knapp <eknapp@amazon.com>

		@@ -0,0 +1,89 @@
		// Copyright 2017 Open Source Robotics Foundation, Inc.

Added count matching api and intra-process subscriber count #628

Added count matching api and intra-process subscriber count #628

Conversation

ivanpauno commented Feb 12, 2019 • edited Loading

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

hidmic left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

ivanpauno commented Feb 13, 2019

mjcarroll commented Feb 14, 2019

ivanpauno commented Feb 15, 2019 • edited Loading

hidmic left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

ivanpauno commented Feb 15, 2019

hidmic left a comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

Choose a reason for hiding this comment

ivanpauno commented Feb 19, 2019 • edited Loading

ivanpauno commented Feb 19, 2019 • edited Loading

ivanpauno commented Feb 20, 2019

hidmic left a comment

Choose a reason for hiding this comment

hidmic commented Feb 20, 2019

ivanpauno commented Feb 12, 2019 •

edited

Loading

ivanpauno commented Feb 15, 2019 •

edited

Loading

ivanpauno commented Feb 19, 2019 •

edited

Loading

ivanpauno commented Feb 19, 2019 •

edited

Loading