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Generate node interfaces' getters and traits. #1069

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merged 8 commits into from Apr 22, 2020

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hidmic
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@hidmic hidmic commented Apr 16, 2020

Based on https://github.com/ros2/rclcpp/compare/node_interfaces_traits. Alternative to #1035. Forces explicit shared ownership of interfaces.

Karsten1987 and others added 3 commits Apr 16, 2020
Signed-off-by: Karsten Knese <karsten@openrobotics.org>
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
@hidmic hidmic requested review from Karsten1987 and ivanpauno Apr 16, 2020
@hidmic hidmic marked this pull request as draft Apr 16, 2020
Signed-off-by: Karsten Knese <karsten@openrobotics.org>
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Karsten1987 commented Apr 17, 2020

I hope you don't mind me pushing on you branch. I just pushed a few things I found in order to make this compile. It was mainly the inline keyword to avoid duplicate symbols.

rclcpp/include/rclcpp/create_timer.hpp Outdated Show resolved Hide resolved
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Signed-off-by: Karsten Knese <karsten@openrobotics.org>
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Karsten1987 commented Apr 17, 2020

Connected PR here: ros2/rcpputils#56

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hidmic commented Apr 17, 2020

I just pushed a few things I found in order to make this compile. It was mainly the inline keyword to avoid duplicate symbols.

Uh, I didn't run into any locally (on a Ubuntu 18.04 box, using gcc 7.4.0). Thanks !

Signed-off-by: Karsten Knese <karsten@openrobotics.org>
@Karsten1987 Karsten1987 marked this pull request as ready for review Apr 17, 2020
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Karsten1987 commented Apr 17, 2020

CI (build everything, test everything above rclcpp):

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

hidmic added 2 commits Apr 17, 2020
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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Karsten1987 commented Apr 17, 2020

CI (build everything, test everything above rclcpp):

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

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hidmic commented Apr 17, 2020

Test failures seem unrelated, but there's an odd cppcheck failure in MacOS for test_rclcpp. @Karsten1987 have you seen it before?

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Karsten1987 commented Apr 17, 2020

from what I can tell it timed out without testing any code. I can't reproduce it locally - cppcheck works correctly on my OSX.

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@Karsten1987 Karsten1987 left a comment

I am approving this, but I think it's fair that we get another reviewer given that I contributed quite a bit to this PR myself.

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wjwwood commented Apr 18, 2020

I'm not really a fan of generated code in this case. I don't think it adds much value over just committing the various files that are being generated here. Obviously DRY is good, but I don't think it's worthwhile trade-off if you have to go around the language to depend on the build system and external template engines. If there were a way to do this C++ (there is it's called meta classes in C++20) then I'd be all for it, but since there's not, I prefer committing the code, repetitive as it is, over generating it, because I think it's easier to read and understand.

But I do think we need the various getters, so if you guys want to push ahead with this direction that's fine. I know I haven't had time to review the alternative pr either, so if you guys have time and desire to push on it, then I think its fair you get to make the design decisions too.

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hidmic commented Apr 21, 2020

I don't have a strong opinion either way, but we do have to make a call. @ros2/team WDYT?

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@ivanpauno ivanpauno left a comment

I'm not really a fan of generated code in this case. I don't think it adds much value over just committing the various files that are being generated here. Obviously DRY is good, but I don't think it's worthwhile trade-off if you have to go around the language to depend on the build system and external template engines. If there were a way to do this C++ (there is it's called meta classes in C++20) then I'd be all for it, but since there's not, I prefer committing the code, repetitive as it is, over generating it, because I think it's easier to read and understand.

I understand @wjwwood point, and I agree it's harder to read and understand.
It's also more easy to maintain, so I don't have a strong preference.
I'm ok with both this PR and the old one (#1035, I can review it again if you want to continue with that one).

We're already depending on the template engines for the logging functions, so this is not adding a new dependency. If it's desired, we can get rid of both generations in the future.

Documentation will be correctly generated for the generated headers too, see

# Use these lines to include the generated logging.hpp (update install path if needed)
, http://docs.ros2.org/eloquent/api/rclcpp/logging_8hpp.html.

I think this PR is introducing a hard API break (see comment below), we should check that all downstream packages build correctly, or rather deprecate than breaking API.

node_interfaces::NodeBaseInterface * node_base,
node_interfaces::NodeTimersInterface * node_timers,
std::shared_ptr<node_interfaces::NodeBaseInterface> node_base,
std::shared_ptr<node_interfaces::NodeTimersInterface> node_timers,
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I think this is reasonable, but we will also break a lot of downstream packages if the old function returning a raw pointer is deleted.
IMO, we should deprecate instead of delete it.

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I agree, and we could so for rclcpp::create_timer, but not for the generated API (at least not seamlessly, template argument deduction won't be carried out for return types). #1035, on the other hand, doesn't drop API. Ultimately, there's a discussion about ownership that has to settled on.

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Ultimately, there's a discussion about ownership that has to settled on.

I think that it's up to the class requiring the interfaces to decide if they need shared ownership or just a non-owning pointer.

IMO, we should only provide getters returning shared pointers, and deprecate the old ones returning raw pointers (which can be replaced with get_shared_*_interface().get()).
But deleting that signature now will require a lot of changes in downstream packages.

I agree, and we could so for rclcpp::create_timer, but not for the generated API (at least not seamlessly, template argument deduction won't be carried out for return types)

I don't understand why it can be done in the generated API, I will check again tomorrow.

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It might not look pretty, but we should be able to write some empy conditions to check if we're generating getters for one of the previously existing interfaces and insert the deprecated API.

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I agree, and we could so for rclcpp::create_timer, but not for the generated API (at least not seamlessly, template argument deduction won't be carried out for return types).

Yes, template argument deduction won't work, but the same applies for the PR creating the files manually.
Both functions need to have a different name.

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Precisely, that's what #1035 does. We can make this PR do the same, though it'll take two deprecation cycles for the std::shared_ptr flavor API to get the name we intended it to have here.

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We can make this PR do the same, though it'll take two deprecation cycles for the std::shared_ptr flavor API to get the name we intended it to have here.

That's a great point.
If you want to continue with the API breaking version, I can help with reviewing the PRs needed in the downstream packages.
It would also be good to add a comment in the release notes.

If you want to continue with two functions with different names, and optionally deprecate the ones returning a raw pointer, I also approve it.

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@jacobperron we need an executive decision here.

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I see. I'd rather not go through two deprecation cycles to get the API we want. I think it will be okay to have this API break and document it in the release notes.

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I'm okay with this, but I concur that we should deprecate the old API instead of removing it.

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hidmic commented Apr 22, 2020

Alright, since everything above rclcpp is passing CI, I think this is good to go. @Karsten1987 has already approved, but it would be good if you guys can give your approval too @ivanpauno @jacobperron

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LGTM!

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ivanpauno commented Apr 22, 2020

It would also be good to add a comment in the release notes.

It would be great to do this.

hidmic added a commit to ros2/ros2_documentation that referenced this pull request Apr 22, 2020
As introduced by ros2/rclcpp#1069.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
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hidmic commented Apr 22, 2020

Alright, ros2/ros2_documentation#621 is up. Merging.

@hidmic hidmic merged commit bb8c8ff into master Apr 22, 2020
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@hidmic hidmic deleted the hidmic/node_interfaces_gen branch Apr 22, 2020
Karsten1987 added a commit that referenced this pull request Apr 22, 2020
#1069 wasn't rebased and didn't have the latest changes, namely this: https://github.com/ros2/rclcpp/pull/1079/files
DensoADAS pushed a commit to DensoADAS/rclcpp that referenced this pull request Jul 7, 2020
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Co-authored-by: Karsten Knese <karsten@openrobotics.org>
timonegk pushed a commit to timonegk/ros-rolling-rclcpp-release that referenced this pull request May 21, 2022
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  * Contributors: Chen Lihui
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ros-rolling-rclcpp (15.2.0-1jammy) jammy; urgency=high
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  * Contributors: Alberto Soragna, Chen Lihui, Chris Lalancette, Kenji Miyake, Miguel Company, Shane Loretz, Tomoya Fujita, iRobot ROS
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ros-rolling-rclcpp (15.0.0-1jammy) jammy; urgency=high
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  * 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>)
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ros-rolling-rclcpp (14.1.0-1jammy) jammy; urgency=high
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ros-rolling-rclcpp (14.0.0-1jammy) jammy; urgency=high
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  * Re-add Clock::sleep_until (#1814 <https://github.com/ros2/rclcpp/issues/1814>)
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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…
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5 participants