Implement functions to get publisher and subcription informations like QoS policies from topic name #960

Barry-Xu-2018 · 2020-01-07T07:41:56Z

Signed-off-by: Barry Xu Barry.Xu@sony.com

Barry-Xu-2018 · 2020-01-07T07:44:32Z

This commit is for #943.

rclcpp/include/rclcpp/node.hpp

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

ivanpauno · 2020-01-08T12:54:14Z

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

+    topic_name,
+    rcl_node_get_name(rcl_node_handle),
+    rcl_node_get_namespace(rcl_node_handle),
+    false);    // false = not a service


I wonder if this should be done in rcl layer.
@mm318 @hidmic opinions?

What specifically did you mean should be done in the rcl layer? This whole function?

Is rclcpp::expand_topic_or_service_name() getting the fully qualified name of topic_name, and there's an equivalent in rcl?

What specifically did you mean should be done in the rcl layer? This whole function?

Yes.

Is rclcpp::expand_topic_or_service_name() getting the fully qualified name of topic_name, and there's an equivalent in rcl?

Is getting a name and converting it to a "fully qualified name" (actually, it's just expanding, remappings are missing).
In rcl, there is a function that does the expand, and another that does the remapping. That combination is repeated in many place in the codebase. I think it would be good to combine the whole expand and remap logic in one function (a is_service flag will be needed).

Most rcl functions, like create_publisher, accept a topic name that's then expanded and remapped.
The only exception I know is rcl_count_publishers, which requires a fully qualified name.
The rclcpp counterpart doesn't requires a fully qualified name, but does the expansion (and, AFAIS the remapping part is missing). I wonder if both the expansion and remapping should be done in rcl, which would improve code reusage.

I wonder if both the expansion and remapping should be done in rcl, which would improve code reusage.

Yeah, my first thought was that it's surprising that there's a expand_topic_or_service_name()
in rclcpp. I thought it was going to be at most just a thin wrapper around something in rcl.

I agree that "rclcpp::expand_topic_or_service_name()" should not at rclcpp layer.
rclcpp::expand_topic_or_service_name() not only expand the name, but to check if the name is valid and then throw exception of rclcpp.
If not calling "rclcpp::expand_topic_or_service_name()" at rclcpp layer, I think rcl should check name at each interfaces.
and then rclcpp check the returned value from rcl to throw rclcpp itself exception.
Maybe need a new issue to handle this.

So to answer @ivanpauno's question

I wonder if this should be done in rcl layer.

Yeah, I think so, but it's outside the scope of this PR.

Sounds reasonable, the changes are broader that just this new functions.

Is this resolved?

Following my comment in the conversation about the line just above, I think we need to decide if it is needed or not, and if it is needed then we should probably do it in rcl if we can, but I agree we could do it in a follow up. However, I would like to have a decision on what we should do before continuing here.

I think there's a couple of things going on here.

rclcpp::expand_topic_or_service_name() does topic name expansion and validation, and does not do remapping.

rclpy.expand_topic_name.expand_topic_name() does topic name expansion, does not do validation (the caller is supposed to do it manually), and also does not do remapping.

(My understanding of remapping here is that the returned/output topic name is the remapped version of the input topic name.)

The follow-up should be to implement in rcl a function like rcl_get_expanded_and_remapped_topic_name() (and it also does validation). This function supposedly should be agnostic to the no_mangle parameter as well.

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

Barry-Xu-2018 · 2020-01-09T07:52:31Z

@ivanpauno

Thanks for your comments.
Since #943 (comment), I have to pend updating codes.
After rcl codes have been fixed, I will continue to update codes.

mm318 · 2020-01-14T18:10:58Z

The set of pull requests remaining in this discussion is:

Implement functions to get publisher and subcription informations like QoS policies from topic name #960
Implement functions to get publisher and subcription informations like QoS policies from topic name rclpy#454
Enhanced ros2 topic info to display node name, node namespace, topic type and qos profile of the publishers and subscribers. ros2cli#385

mm318 · 2020-01-14T18:48:40Z

Hi @Barry-Xu-2018, can you add me as a collaborator to https://github.com/Barry-Xu-2018/rclcpp?

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

mm318 · 2020-01-14T19:52:06Z

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

+    topic_name,
+    rcl_node_get_name(rcl_node_handle),
+    rcl_node_get_namespace(rcl_node_handle),
+    false);    // false = not a service


What specifically did you mean should be done in the rcl layer? This whole function?

Is rclcpp::expand_topic_or_service_name() getting the fully qualified name of topic_name, and there's an equivalent in rcl?

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

rclcpp/include/rclcpp/node_interfaces/node_graph.hpp

ivanpauno · 2020-01-14T20:38:51Z

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

+    topic_name,
+    rcl_node_get_name(rcl_node_handle),
+    rcl_node_get_namespace(rcl_node_handle),
+    false);    // false = not a service


What specifically did you mean should be done in the rcl layer? This whole function?

Yes.

Is rclcpp::expand_topic_or_service_name() getting the fully qualified name of topic_name, and there's an equivalent in rcl?

Is getting a name and converting it to a "fully qualified name" (actually, it's just expanding, remappings are missing).
In rcl, there is a function that does the expand, and another that does the remapping. That combination is repeated in many place in the codebase. I think it would be good to combine the whole expand and remap logic in one function (a is_service flag will be needed).

Most rcl functions, like create_publisher, accept a topic name that's then expanded and remapped.
The only exception I know is rcl_count_publishers, which requires a fully qualified name.
The rclcpp counterpart doesn't requires a fully qualified name, but does the expansion (and, AFAIS the remapping part is missing). I wonder if both the expansion and remapping should be done in rcl, which would improve code reusage.

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

Barry-Xu-2018 · 2020-01-15T08:46:34Z

@mm318

Hi @Barry-Xu-2018, can you add me as a collaborator to https://github.com/Barry-Xu-2018/rclcpp?

OK. I added you.

Barry-Xu-2018 · 2020-01-15T09:41:08Z

@ivanpauno @mm318

I have updated codes based on your comments.
Please review again.

fujitatomoya

looks good to me.

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

Barry-Xu-2018 · 2020-01-17T08:11:15Z

@mm318 @ivanpauno @fujitatomoya

Sorry. Next I am going to take Chinese New Year holiday. During holiday, maybe I cannot response your comments. I will be back on Feb 1st.

mm318 · 2020-01-17T08:19:31Z

Sorry. Next I am going to take Chinese New Year holiday. During holiday, maybe I cannot response your comments. I will be back on Feb 1st.

I should be able to address comments since I'm a collaborator.

Have a great holidays!

Barry-Xu-2018 · 2020-01-17T08:25:34Z

Sorry. Next I am going to take Chinese New Year holiday. During holiday, maybe I cannot response your comments. I will be back on Feb 1st.

I should be able to address comments since I'm a collaborator.

Have a great holidays!

Thank you :)

rclcpp/include/rclcpp/node.hpp

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

ivanpauno · 2020-01-17T17:42:25Z

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

+    topic_name,
+    rcl_node_get_name(rcl_node_handle),
+    rcl_node_get_namespace(rcl_node_handle),
+    false);    // false = not a service


Sounds reasonable, the changes are broader that just this new functions.

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

mm318 · 2020-01-18T17:56:16Z

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

+  std::vector<rclcpp::TopicEndpointInfo> topic_info_list;
+
+  auto rcl_node_handle = node_base->get_rcl_node_handle();
+  auto fqdn = rclcpp::expand_topic_or_service_name(


I'm curious, how does expand_topic_or_service_name() work without a no_mangle parameter?

So, one thing is mangling, i.e. generate a valid middleware name (e.g. DDS) from the ROS name.
Another thing is expansion, i.e. get full names from relative names ('topic' -> '/namespace/topic/') and full names from private names ('~/topic' -> '/namespace/node_name/topic/').
Remapping should be always done after expansion, but it's missing here (can be added later, as it's a preexisting problem in get_publisher_count too).

We're everywhere always doing remapping and expansion, including when we do no_mangle=true (or when this qos setting is set to true). IMO, always doing remapping and expansion is ok, though is arguable. Considering that, expand_topic_or_service_name doesn't need to know about no_mangle.

Has this been resolved?

I think we need to get a holistic summary of how we think no_mangle should be used with each of these functions, and then make sure the implementation matches. I feel like there have been several such conversations and potentially different solutions in each case. Also I haven't heard a compelling story for why one way or the other.

I would prefer to see clarity on this point before moving forward, even if that means we need to follow up after this pr and fix other functions.

Another thing is expansion, i.e. get full names from relative names ('topic' -> '/namespace/topic/') and full names from private names ('~/topic' -> '/namespace/node_name/topic/').

I meant to confirm if the expansion algorithm will work for a middleware topic names well? For example rt/topic -> rt/namespace/topic. (And I guess rt/~/topic is an invalid topic name regardless of the value of no_mangle.)

My understanding is that this is indeed the latter case: if no_mangle==true, then the input into this get_info_by_topic() function and subsequently the expand_topic_or_service_name() function is to be treated as a middleware topic name.

I don't have arguments in favor of applying remapping and expansion when using no_mangle=true.

In the latter case, I think that expanding the input may not be desired, but I could be wrong.

Then it sounds like no_mangle==true does imply that the input topic_name parameter will need to be fully qualified? (Though we've been removing statements about that from the docstrings.)

@ivanpauno summarized our discussion here:

ros2/ros2#862 (comment)

Basically we want all of the graph query functions (including this one) to do both expansion (foo becomes /node_ns/foo) and remapping, by default. And then we want them all to have an option to skip both expansion and remapping.

Also, any functions that return topic or type names should be able to avoid de-mangling of those names.

Currently this implementation does expansion but not remapping (as far as I can tell), and it has an option no_mangle to make the query assume the input topic should be considered as is, without any additional prefixes or other mangling. It does not, however, have a no_demangle, which some of the other functions do have.

This no_mangle option does not prevent the topic name expansion here, which is a problem in my opinion, what do you think @ivanpauno?

As I see it we need to do these things to get this merged:

add remapping of the input topic name to this function

avoid expansion and remapping when no_mangle is specified

Later we should make a set of pull requests which add a no_demangle option to these query functions. This will affect all the layers unfortunately.

We should also make sure the rclpy version of this matches.

Basically we want all of the graph query functions (including this one) to do both expansion (foo becomes /node_ns/foo) and remapping, by default. And then we want them all to have an option to skip both expansion and remapping.

I completly agree with this.
I think it should be done in rcl, repeating the code in rclcpp and rclpy doesn't make much sense.

Also, any functions that return topic or type names should be able to avoid de-mangling of those names.

Currently, the topic types are being demangled or not based on no_mangle argument.
Considering the use cases mentioned in the issue, I think that's fine.
We could have a better name, like use_ros_conventions, default to true:

true means both input and output are ros names.

false means both input and output are dds names (input shouldn't be expanded/remapped/mangled, output shouldn't be demangled).

This no_mangle option does not prevent the topic name expansion here, which is a problem in my opinion, what do you think @ivanpauno?

Yeah, as we talked, I think it's a problem.

We can left this as-is for now, and then correct all the places where we have this error together (publisher/subscription creation is applying remapping and expansion when ros_conventions qos is false , publisher/subscription count is not doing remapping, etc). I don't feel strongly about which path to take.

I think it should be done in rcl, repeating the code in rclcpp and rclpy doesn't make much sense.

In principle yes, but actually I think the sub-nodes feature in rclcpp prevent this for now. It needs to be more carefully considered I think. I would postpone that to another pull request.

Currently, the topic types are being demangled or not based on no_mangle argument.
Considering the use cases mentioned in the issue, I think that's fine.
We could have a better name, like use_ros_conventions, default to true: ...

I think having just one option can be ok, though it does make the odd cases impossible, because there's no way to manually do mangling/demangling.

If we want to go the route of having one option for both behaviors, then we need to change the no_mangle name, as it doesn't cover the existing behavior correctly, imo.

We can left this as-is for now, and then correct all the places where we have this error together (publisher/subscription creation is applying remapping and expansion when ros_conventions qos is false , publisher/subscription count is not doing remapping, etc). I don't feel strongly about which path to take.

I don't think the two points I highlighted (add remapping and avoid expansion/remapping when no_mangle is true) are very difficult so I'd prefer those to be done now. Everything else can be done in follow up.

Signed-off-by: Miaofei <miaofei@amazon.com>

rclcpp/src/rclcpp/node_interfaces/node_graph.cpp

Signed-off-by: Miaofei <miaofei@amazon.com>

ivanpauno · 2020-02-10T14:06:14Z

CI run here.

mm318 · 2020-02-11T01:37:12Z

Hi @ivanpauno, any advice on how to fix the Windows CI failure in rclcpp at https://ci.ros2.org/job/ci_windows/9214/? It looks like std::string members needs to be exported? Has this (or for member variables that are some other type of std container) been done elsewhere in rclcpp before?

EDIT: Or is the recommendation to not have std container members that are public, but have them accessed via getter/setter methods instead?

EDIT2: Oh, the error was actually only in rclpy, which is now fixed. The compiler messages in rclcpp are actually just warnings, but the same question applies since these warnings should be fixed.

ivanpauno · 2020-02-11T16:57:27Z

@mm318 I've read a bit, and this seems to be a problem when a member variable of an exported class is template defined in another library:

Considering that we already have a test that compiles and access those member variables without problems, I would just ignore the warning with a pragma. I don't think that would be an issue.
Another option is switching from a plain struct to a class with setters and getters.

@wjwwood opinions?

rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp

Signed-off-by: Miaofei <miaofei@amazon.com>

mm318 · 2020-02-11T21:56:38Z

In my opinion, this is ready for a CI re-run, @ivanpauno.

wjwwood

I guess this is probably for the best, though it is a lot of boilerplate (welcome to C++ :p).

ivanpauno · 2020-02-12T13:49:04Z

I think that the boilerplate is fine, but the windows warning seems to be non-sense. Ignoring it with a pragma would be fine too.

ivanpauno · 2020-02-12T13:54:51Z

New CI round: ros2/rclpy#454 (comment)

wjwwood · 2020-02-12T19:55:03Z

but the windows warning seems to be non-sense. Ignoring it with a pragma would be fine too.

I'm not sure that's true, but we're not doing that so it's fine.

ivanpauno · 2020-02-14T20:25:25Z

Merged! Thanks @Barry-Xu-2018 and @mm318 for pushing this!

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…

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

* Add play-for functionality Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add play-for to the CLI Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Solves most of the comments from https://github.com/ros2/rosbag2/pull/960/files (ros2#14) * Add play-for functionality Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Add play-for to the CLI Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Adds playback_duration to PlayOptions. * Changes from PlayFor to Play srv message and changes start_offset and playback_duration. * Restores play_for tests. * Removes extra SubscriptionManager methods. * Solves comment about extra sent message. * Reorders code and comment. * Removes the SKIP_TEST flag. Co-authored-by: Geoffrey Biggs <gbiggs@killbots.net> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Second round of comments from ros2#960 upstream (ros2#15) * Removes duration parameter. A leftover after switching to playback_duration. * Fixes comment. * Solves format in rosbag2_py -> _transport.cpp * Applies style suggestions. * Changes play() to return a boolean indicating whether the request could be fulfilled. * Removes extra unnecessary code. Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Updates test execution time for ros2/rosbag2#960 (ros2#16) * Adresses reviewer's comments. * Improve test time by adding an optional argument to SubscriptionManager::spin_subscriptions() - Reduces test_play_for execution time from 50s to 6s approximately. Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Redesign tests in test_play_for.cpp (ros2#17) * Redesigned tests to be more deterministic and running faster * Fixed bug in `play_for()` flow when replaying in loop or multiple times from the same player instance. Signed-off-by: Michael Orlov <michael.orlov@apex.ai> Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Remove unnecessary source file from test binary Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Correct errors introduced by rebase Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> * Correct play_next behaviour Signed-off-by: Geoffrey Biggs <gbiggs@killbots.net> Co-authored-by: Agustin Alba Chicar <ag.albachicar@ekumenlabs.com> Co-authored-by: Michael Orlov <morlovmr@gmail.com>

Barry-Xu-2018 mentioned this pull request Jan 7, 2020

Implement functions to get publisher and subcription information from topic name #943

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ivanpauno self-requested a review January 7, 2020 15:43

mm318 mentioned this pull request Jan 7, 2020

Adding required structs and methods to get a list of publishers or subscribers with their respective qos ros2/rmw#186

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ivanpauno reviewed Jan 8, 2020

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ivanpauno mentioned this pull request Jan 9, 2020

Implement functions to get publisher and subcription informations like QoS policies from topic name ros2/rcl#511

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mm318 mentioned this pull request Jan 14, 2020

Stub functions to get publisher and subcription informations like QoS policies from topic name #959

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ivanpauno added the in review Waiting for review (Kanban column) label Jan 14, 2020

mm318 reviewed Jan 14, 2020

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rclcpp/src/rclcpp/node_interfaces/node_graph.cpp Outdated Show resolved Hide resolved

fujitatomoya approved these changes Jan 16, 2020

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mm318 mentioned this pull request Jan 16, 2020

Cleanup templated get_info_by_topic() function Barry-Xu-2018/rclcpp#2

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mm318 reviewed Jan 16, 2020

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Barry-Xu-2018 force-pushed the topic-get-topic-info branch 4 times, most recently from 08cce5d to c9e03c8 Compare January 17, 2020 02:23

mm318 approved these changes Jan 17, 2020

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mm318 mentioned this pull request Jan 18, 2020

Fix some doc strings regarding no_mangle input parameter ros2/rcl#557

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mm318 added 8 commits February 7, 2020 02:53

address some of the PR comments

c9ff531

Signed-off-by: Miaofei <miaofei@amazon.com>

change rclcpp::EndpointType to an enum class

a79f8e4

Signed-off-by: Miaofei <miaofei@amazon.com>

fix punctuation in docstring

4db2a31

Signed-off-by: Miaofei <miaofei@amazon.com>

address more PR comments

67ca5b8

Signed-off-by: Miaofei <miaofei@amazon.com>

add get_publishers/subscriptions_info_by_topic() to LifecycleNode

88af887

Signed-off-by: Miaofei <miaofei@amazon.com>

remove weird punctuation from docstring

814117c

Signed-off-by: Miaofei <miaofei@amazon.com>

add topic name remapping to get_info_by_topic()

634d588

Signed-off-by: Miaofei <miaofei@amazon.com>

remove useless line of code

bc1b891

Signed-off-by: Miaofei <miaofei@amazon.com>

mm318 force-pushed the topic-get-topic-info branch from c911445 to bc1b891 Compare February 7, 2020 10:53

ivanpauno approved these changes Feb 7, 2020

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rclcpp/src/rclcpp/node_interfaces/node_graph.cpp Outdated Show resolved Hide resolved

remove non-applicable comment

9911d24

Signed-off-by: Miaofei <miaofei@amazon.com>

ivanpauno approved these changes Feb 7, 2020

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wjwwood reviewed Feb 11, 2020

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rclcpp/include/rclcpp/node_interfaces/node_graph_interface.hpp Outdated Show resolved Hide resolved

make members of TopicEndpointInfo private

cb064f2

Signed-off-by: Miaofei <miaofei@amazon.com>

wjwwood approved these changes Feb 11, 2020

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ivanpauno changed the title ~~get publisher and subscription information from topic name~~ Implement functions to get publisher and subcription informations like QoS policies from topic name Feb 14, 2020

ivanpauno merged commit 2d9c6ea into ros2:master Feb 14, 2020

This was referenced Feb 14, 2020

Add rcl_topic_endpoint_info_t and related types and functions ros2/rcl#558

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Enhanced ros2 topic info to display node name, node namespace, topic type and qos profile of the publishers and subscribers. ros2/ros2cli#385

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

Remove fastrtps customization on test_events (ros2#960)

4e4bdc7

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Implement functions to get publisher and subcription informations like QoS policies from topic name #960

Implement functions to get publisher and subcription informations like QoS policies from topic name #960

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Barry-Xu-2018 commented Jan 7, 2020

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ivanpauno commented Feb 10, 2020

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