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Bouncy Patch release 2 #563

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sloretz opened this Issue Aug 15, 2018 · 20 comments

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sloretz commented Aug 15, 2018

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wjwwood Aug 20, 2018

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As with the last patch release, I would propose that we just fast-forward the packages in the launch repo, since only bug fixes and pure additions to the API have been made, see:

ros2/launch@0.5.2...master

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wjwwood commented Aug 20, 2018

As with the last patch release, I would propose that we just fast-forward the packages in the launch repo, since only bug fixes and pure additions to the API have been made, see:

ros2/launch@0.5.2...master

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Sounds good to me: added launch to the list of repos to bump and release

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mikaelarguedas commented Aug 20, 2018

Sounds good to me: added launch to the list of repos to bump and release

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CI with these PRs

Debug:

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

Release

Packaging:

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

Xenial:

Debug:

  • Linux Build Status
  • Linux-aarch64 Build Status

Release:

  • Linux Build Status
  • Linux-aarch64 Build Status

Packaging:

  • Linux Build Status
  • Linux-aarch64 Build Status
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mikaelarguedas commented Aug 20, 2018

CI with these PRs

Debug:

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

Release

Packaging:

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

Xenial:

Debug:

  • Linux Build Status
  • Linux-aarch64 Build Status

Release:

  • Linux Build Status
  • Linux-aarch64 Build Status

Packaging:

  • Linux Build Status
  • Linux-aarch64 Build Status
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Artifacts for testing:

Linux: Build Status @dirk-thomas
Linux aarch64: Build Status

macOS: Build Status (CMake warning expected ros2/rviz#349) @wjwwood

Windows: Build Status
Windows Debug: Build Status

Xenial: Build Status @sloretz
Xenial aarch64: Build Status @nuclearsandwich

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mikaelarguedas commented Aug 22, 2018

Artifacts for testing:

Linux: Build Status @dirk-thomas
Linux aarch64: Build Status

macOS: Build Status (CMake warning expected ros2/rviz#349) @wjwwood

Windows: Build Status
Windows Debug: Build Status

Xenial: Build Status @sloretz
Xenial aarch64: Build Status @nuclearsandwich

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The artifacts may not have the latest launch stuff in them due to me forgetting this: ros2/launch#125

I'll check now and help with testing one of the architectures.

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wjwwood commented Aug 22, 2018

The artifacts may not have the latest launch stuff in them due to me forgetting this: ros2/launch#125

I'll check now and help with testing one of the architectures.

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Issues that should be fixed in this release:

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mikaelarguedas commented Aug 22, 2018

Issues that should be fixed in this release:

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sloretz Aug 22, 2018

Xenial testing with https://ci.ros2.org/job/ci_packaging_linux/140/ looks good

Can include `sensor_msgs/point_cloud2_iterator.hpp` and compile
#include <sensor_msgs/point_cloud2_iterator.hpp>

int main()
{
  return 0;
}
cmake_minimum_required(VERSION 3.5)

project(include_test)

find_package(sensor_msgs)

add_executable(test_exec main.cpp)
target_link_libraries(test_exec ${sensor_msgs_LIBRARIES})
target_include_directories(test_exec PUBLIC ${sensor_msgs_INCLUDE_DIRS})
set_property(TARGET test_exec PROPERTY CXX_STANDARD 14)
$ . ros2-linux/local_setup.bash
$ mkdir buil
$ cd buil/
$ cmake ..
$ make
$ ./test_exec 
$ echo $?
0

Can filter parameter list by prefix

In one terminal

$ ros2 run demo_nodes_cpp listener

In another terminal

$ ros2 param list
listener:
$ ros2 param set listener foo.bar.baz True
Set parameter successful
$ ros2 param set listener foo.bar.tree True
Set parameter successful
$ ros2 param set listener foo.tree True
Set parameter successful
$ ros2 param set listener foo.baz True
Set parameter successful
$ ros2 param list
listener:
  foo.bar.baz
  foo.bar.tree
  foo.baz
  foo.tree
$ ros2 param list --param-prefixes foo.bar
listener:
  foo.bar.baz
  foo.bar.tree
$ ros2 param list --param-prefixes foo.bar foo.baz
listener:
  foo.bar.baz
  foo.bar.tree
  foo.baz
Can echo a truncated message

In one terminal

ros2 run image_tools cam2image -b -x 64 -y 64 -f 1

In another terminal

$ ros2 topic echo /image -l 5
header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: '9'
height: 64
width: 64
encoding: bgr8
is_bigendian: 0
step: 192
data: [0, 0, 0, 0, 0, '...']

$ ros2 topic echo /image -l 1
header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: 1...
height: 64
width: 64
encoding: b...
is_bigendian: 0
step: 192
data: [0, '...']

$ ros2 topic echo /image
header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: '22'
height: 64
width: 64
encoding: bgr8
is_bigendian: 0
step: 192
data: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
 0, 0, 0, 0, 0, 0, 0, '...']
Can run random ros2cli commands

ros2 daemon

$ ros2 daemon stop
The daemon has been stopped
$ ros2 daemon status
The daemon is not running
$ ros2 daemon start
The daemon has been started
$ ros2 daemon status
The daemon is running

ros2 node

$ ros2 node list
$ ros2 run demo_nodes_py listener &
[1] 2793
$ kill -SIGINT %
Traceback (most recent call last):
  File "/home/developer/workspaces/ros2-linux/lib/demo_nodes_py/listener", line 11, in <module>
$     load_entry_point('demo-nodes-py==0.5.1', 'console_scripts', 'listener')()
  File "/home/developer/workspaces/ros2-linux/lib/python3.5/site-packages/demo_nodes_py/topics/listener.py", line 40, in main
    rclpy.spin(node)
  File "/home/developer/workspaces/ros2-linux/lib/python3.5/site-packages/rclpy/__init__.py", line 108, in spin
    executor.spin_once()
  File "/home/developer/workspaces/ros2-linux/lib/python3.5/site-packages/rclpy/executors.py", line 522, in spin_once
    handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
  File "/home/developer/workspaces/ros2-linux/lib/python3.5/site-packages/rclpy/executors.py", line 508, in wait_for_ready_callbacks
    return next(self._cb_iter)
  File "/home/developer/workspaces/ros2-linux/lib/python3.5/site-packages/rclpy/executors.py", line 414, in _wait_for_ready_callbacks
    _rclpy.rclpy_wait(wait_set, timeout_nsec)
KeyboardInterrupt

[1]+  Exit 1                  ros2 run demo_nodes_py listener
$ ros2 node list
$

ros2 service

$ ros2 run examples_rclpy_minimal_service service

in another terminal

$ ros2 service list
/add_two_ints
$ ros2 service call /add_two_ints example_interfaces/AddTwoInts "{a: 5, b: 7}"
requester: making request: example_interfaces.srv.AddTwoInts_Request(a=5, b=7)

response:
example_interfaces.srv.AddTwoInts_Response(sum=12)
Executor only allows a node to be added to it once
import rclpy
from examples_rclpy_executors.listener import Listener
from rclpy.executors import SingleThreadedExecutor


rclpy.init()
try:
    e = SingleThreadedExecutor()
    node = Listener()
    if not e.add_node(node):
        raise RuntimeError
    if e.add_node(node):
        raise RuntimeError
    e.spin()
finally:
    rclpy.shutdown()
$ ros2 topic pub /chatter std_msgs/String  "{data: 'hello world'}"
publisher: beginning loop
publishing #1: std_msgs.msg.String(data='hello world')

publishing #2: std_msgs.msg.String(data='hello world')

publishing #3: std_msgs.msg.String(data='hello world')
$ python3 add_remove.py 
[INFO] [listener]: I heard: "hello world"
[INFO] [listener]: I heard: "hello world"
[INFO] [listener]: I heard: "hello world"
Once removed from an executor the entities don't get callbacks
import rclpy
from examples_rclpy_executors.listener import Listener
from rclpy.executors import SingleThreadedExecutor


rclpy.init()
try:
    e = SingleThreadedExecutor()
    node = Listener()
    if not e.add_node(node):
        raise RuntimeError
    if e.add_node(node):
        raise RuntimeError

    e.remove_node(node)
    e.spin()
finally:
    rclpy.shutdown()

In one terminal

$ python3 add_remove.py 

In another terminal

$ ros2 topic pub /chatter std_msgs/String  "{data: 'hello world'}"
publisher: beginning loop
publishing #1: std_msgs.msg.String(data='hello world')

publishing #2: std_msgs.msg.String(data='hello world')

publishing #3: std_msgs.msg.String(data='hello world')
Able to visualize a laserscan with no intensities and ranges > 1

In one terminal


$ ros2 topic pub /scan sensor_msgs/LaserScan "
header:
  stamp:
    sec: 1534976146
    nanosec: 244954361
  frame_id: single_rrbot_hokuyo_link
angle_min: -2.356194496154785
angle_max: 2.356194496154785
angle_increment: 0.004363323096185923
time_increment: 2.7777778086601757e-05
scan_time: 0.03999999910593033
range_min: 0.0
range_max: 10.0
ranges: [2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 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2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0]
intensities: []"

In another terminal

$ ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 /world /single_rrbot_hokuyo_link &
$ ros2 run rviz2 rviz2
  • Set Fixed Frame to single_rrbot_hokuyo_link
  • Click Add and add a visualization for topic /scan

sloretz commented Aug 22, 2018

Xenial testing with https://ci.ros2.org/job/ci_packaging_linux/140/ looks good

Can include `sensor_msgs/point_cloud2_iterator.hpp` and compile
#include <sensor_msgs/point_cloud2_iterator.hpp>

int main()
{
  return 0;
}
cmake_minimum_required(VERSION 3.5)

project(include_test)

find_package(sensor_msgs)

add_executable(test_exec main.cpp)
target_link_libraries(test_exec ${sensor_msgs_LIBRARIES})
target_include_directories(test_exec PUBLIC ${sensor_msgs_INCLUDE_DIRS})
set_property(TARGET test_exec PROPERTY CXX_STANDARD 14)
$ . ros2-linux/local_setup.bash
$ mkdir buil
$ cd buil/
$ cmake ..
$ make
$ ./test_exec 
$ echo $?
0

Can filter parameter list by prefix

In one terminal

$ ros2 run demo_nodes_cpp listener

In another terminal

$ ros2 param list
listener:
$ ros2 param set listener foo.bar.baz True
Set parameter successful
$ ros2 param set listener foo.bar.tree True
Set parameter successful
$ ros2 param set listener foo.tree True
Set parameter successful
$ ros2 param set listener foo.baz True
Set parameter successful
$ ros2 param list
listener:
  foo.bar.baz
  foo.bar.tree
  foo.baz
  foo.tree
$ ros2 param list --param-prefixes foo.bar
listener:
  foo.bar.baz
  foo.bar.tree
$ ros2 param list --param-prefixes foo.bar foo.baz
listener:
  foo.bar.baz
  foo.bar.tree
  foo.baz
Can echo a truncated message

In one terminal

ros2 run image_tools cam2image -b -x 64 -y 64 -f 1

In another terminal

$ ros2 topic echo /image -l 5
header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: '9'
height: 64
width: 64
encoding: bgr8
is_bigendian: 0
step: 192
data: [0, 0, 0, 0, 0, '...']

$ ros2 topic echo /image -l 1
header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: 1...
height: 64
width: 64
encoding: b...
is_bigendian: 0
step: 192
data: [0, '...']

$ ros2 topic echo /image
header:
  stamp:
    sec: 0
    nanosec: 0
  frame_id: '22'
height: 64
width: 64
encoding: bgr8
is_bigendian: 0
step: 192
data: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
 0, 0, 0, 0, 0, 0, 0, '...']
Can run random ros2cli commands

ros2 daemon

$ ros2 daemon stop
The daemon has been stopped
$ ros2 daemon status
The daemon is not running
$ ros2 daemon start
The daemon has been started
$ ros2 daemon status
The daemon is running

ros2 node

$ ros2 node list
$ ros2 run demo_nodes_py listener &
[1] 2793
$ kill -SIGINT %
Traceback (most recent call last):
  File "/home/developer/workspaces/ros2-linux/lib/demo_nodes_py/listener", line 11, in <module>
$     load_entry_point('demo-nodes-py==0.5.1', 'console_scripts', 'listener')()
  File "/home/developer/workspaces/ros2-linux/lib/python3.5/site-packages/demo_nodes_py/topics/listener.py", line 40, in main
    rclpy.spin(node)
  File "/home/developer/workspaces/ros2-linux/lib/python3.5/site-packages/rclpy/__init__.py", line 108, in spin
    executor.spin_once()
  File "/home/developer/workspaces/ros2-linux/lib/python3.5/site-packages/rclpy/executors.py", line 522, in spin_once
    handler, entity, node = self.wait_for_ready_callbacks(timeout_sec=timeout_sec)
  File "/home/developer/workspaces/ros2-linux/lib/python3.5/site-packages/rclpy/executors.py", line 508, in wait_for_ready_callbacks
    return next(self._cb_iter)
  File "/home/developer/workspaces/ros2-linux/lib/python3.5/site-packages/rclpy/executors.py", line 414, in _wait_for_ready_callbacks
    _rclpy.rclpy_wait(wait_set, timeout_nsec)
KeyboardInterrupt

[1]+  Exit 1                  ros2 run demo_nodes_py listener
$ ros2 node list
$

ros2 service

$ ros2 run examples_rclpy_minimal_service service

in another terminal

$ ros2 service list
/add_two_ints
$ ros2 service call /add_two_ints example_interfaces/AddTwoInts "{a: 5, b: 7}"
requester: making request: example_interfaces.srv.AddTwoInts_Request(a=5, b=7)

response:
example_interfaces.srv.AddTwoInts_Response(sum=12)
Executor only allows a node to be added to it once
import rclpy
from examples_rclpy_executors.listener import Listener
from rclpy.executors import SingleThreadedExecutor


rclpy.init()
try:
    e = SingleThreadedExecutor()
    node = Listener()
    if not e.add_node(node):
        raise RuntimeError
    if e.add_node(node):
        raise RuntimeError
    e.spin()
finally:
    rclpy.shutdown()
$ ros2 topic pub /chatter std_msgs/String  "{data: 'hello world'}"
publisher: beginning loop
publishing #1: std_msgs.msg.String(data='hello world')

publishing #2: std_msgs.msg.String(data='hello world')

publishing #3: std_msgs.msg.String(data='hello world')
$ python3 add_remove.py 
[INFO] [listener]: I heard: "hello world"
[INFO] [listener]: I heard: "hello world"
[INFO] [listener]: I heard: "hello world"
Once removed from an executor the entities don't get callbacks
import rclpy
from examples_rclpy_executors.listener import Listener
from rclpy.executors import SingleThreadedExecutor


rclpy.init()
try:
    e = SingleThreadedExecutor()
    node = Listener()
    if not e.add_node(node):
        raise RuntimeError
    if e.add_node(node):
        raise RuntimeError

    e.remove_node(node)
    e.spin()
finally:
    rclpy.shutdown()

In one terminal

$ python3 add_remove.py 

In another terminal

$ ros2 topic pub /chatter std_msgs/String  "{data: 'hello world'}"
publisher: beginning loop
publishing #1: std_msgs.msg.String(data='hello world')

publishing #2: std_msgs.msg.String(data='hello world')

publishing #3: std_msgs.msg.String(data='hello world')
Able to visualize a laserscan with no intensities and ranges > 1

In one terminal


$ ros2 topic pub /scan sensor_msgs/LaserScan "
header:
  stamp:
    sec: 1534976146
    nanosec: 244954361
  frame_id: single_rrbot_hokuyo_link
angle_min: -2.356194496154785
angle_max: 2.356194496154785
angle_increment: 0.004363323096185923
time_increment: 2.7777778086601757e-05
scan_time: 0.03999999910593033
range_min: 0.0
range_max: 10.0
ranges: [2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0]
intensities: []"

In another terminal

$ ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 /world /single_rrbot_hokuyo_link &
$ ros2 run rviz2 rviz2
  • Set Fixed Frame to single_rrbot_hokuyo_link
  • Click Add and add a visualization for topic /scan
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mikaelarguedas Aug 22, 2018

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New set of archives using repos file from #565 (including launch fixes)

Linux: Build Status @dirk-thomas ✔️
Linux aarch64: Build Status (✔️ tested @sloretz's plan plus the launch hang except for rviz and ros1_bridge @nuclearsandwich)

macOS: Build Status @wjwwood ✔️

Windows: Build Status
Windows Debug: Build Status

Xenial: Build Status @sloretz
Xenial aarch64: Build Status @nuclearsandwich ✔️ (didn't test rviz or ros1_bridge)

Repos file from #565 is now available for source testing as well:

Contributor

mikaelarguedas commented Aug 22, 2018

New set of archives using repos file from #565 (including launch fixes)

Linux: Build Status @dirk-thomas ✔️
Linux aarch64: Build Status (✔️ tested @sloretz's plan plus the launch hang except for rviz and ros1_bridge @nuclearsandwich)

macOS: Build Status @wjwwood ✔️

Windows: Build Status
Windows Debug: Build Status

Xenial: Build Status @sloretz
Xenial aarch64: Build Status @nuclearsandwich ✔️ (didn't test rviz or ros1_bridge)

Repos file from #565 is now available for source testing as well:

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I did all the tests that @sloretz did, but also:

  • run any launch file and ctrl-c it to see that it exits on the first ctrl-c
    • e.g. ros2 launch demo_nodes_cpp talker_listener.launch.py
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wjwwood commented Aug 22, 2018

I did all the tests that @sloretz did, but also:

  • run any launch file and ctrl-c it to see that it exits on the first ctrl-c
    • e.g. ros2 launch demo_nodes_cpp talker_listener.launch.py
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Thanks, by the way, for the detailed how-to @sloretz!

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wjwwood commented Aug 22, 2018

Thanks, by the way, for the detailed how-to @sloretz!

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sloretz Aug 22, 2018

Xenial testing with https://ci.ros2.org/job/ci_packaging_linux/142/ looks good

Launch closes successfully after CTRL+C This platform isn't expected to hang even without the patch. As expected it works fine.
$ ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py
[INFO] [launch]: process[dummy_map_server-1]: started with pid [5164]
[INFO] [launch]: process[robot_state_publisher-2]: started with pid [5165]
[INFO] [launch]: process[dummy_joint_states-3]: started with pid [5166]
[INFO] [launch]: process[dummy_laser-4]: started with pid [5167]
Initialize urdf model from file: /home/developer/workspaces/ros2-linux/share/dummy_robot_bringup/launch/single_rrbot.urdf
Parsing robot urdf xml string.
Link single_rrbot_link1 had 1 children
Link single_rrbot_link2 had 1 children
Link single_rrbot_link3 had 2 children
Link single_rrbot_camera_link had 0 children
Link single_rrbot_hokuyo_link had 0 children
got segment single_rrbot_camera_link
got segment single_rrbot_hokuyo_link
got segment single_rrbot_link1
got segment single_rrbot_link2
got segment single_rrbot_link3
got segment world
Adding fixed segment from world to single_rrbot_link1
Adding moving segment from single_rrbot_link1 to single_rrbot_link2
Adding moving segment from single_rrbot_link2 to single_rrbot_link3
Adding fixed segment from single_rrbot_link3 to single_rrbot_camera_link
Adding fixed segment from single_rrbot_link3 to single_rrbot_hokuyo_link
[INFO] [dummy_laser]: angle inc:        0.004363
[INFO] [dummy_laser]: scan size:        1081
[INFO] [dummy_laser]: scan time increment:      0.000028
^C[WARNING] [launch.LaunchService]: user interrupted with ctrl-c (SIGINT)
signal_handler(2)
[INFO] [launch]: process[dummy_map_server-1]: process has finished cleanly
[INFO] [launch]: process[robot_state_publisher-2]: process has finished cleanly
[INFO] [launch]: process[dummy_laser-4]: process has finished cleanly
signal_handler(2)
signal_handler(2)
[ERROR] [launch]: process[dummy_joint_states-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [launch]: sending signal 'SIGTERM' to process[dummy_joint_states-3]
[ERROR] [launch]: process[dummy_joint_states-3] process has died [pid 5166, exit code -15, cmd '/home/developer/workspaces/ros2-linux/lib/dummy_sensors/dummy_joint_states'].
$
$ ros2 launch demo_nodes_cpp talker_listener.launch.py
[INFO] [launch]: process[talker-1]: started with pid [5200]
[INFO] [launch]: process[listener-2]: started with pid [5201]
[INFO] [talker]: Publishing: 'Hello World: 1'
[INFO] [listener]: I heard: [Hello World: 1]
[INFO] [talker]: Publishing: 'Hello World: 2'
[INFO] [listener]: I heard: [Hello World: 2]
^C[WARNING] [launch.LaunchService]: user interrupted with ctrl-c (SIGINT)
signal_handler(2)
signal_handler(2)
[INFO] [launch]: process[talker-1]: process has finished cleanly
[INFO] [launch]: process[listener-2]: process has finished cleanly
main|developer@470bab580aa2:~/workspaces$

sloretz commented Aug 22, 2018

Xenial testing with https://ci.ros2.org/job/ci_packaging_linux/142/ looks good

Launch closes successfully after CTRL+C This platform isn't expected to hang even without the patch. As expected it works fine.
$ ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py
[INFO] [launch]: process[dummy_map_server-1]: started with pid [5164]
[INFO] [launch]: process[robot_state_publisher-2]: started with pid [5165]
[INFO] [launch]: process[dummy_joint_states-3]: started with pid [5166]
[INFO] [launch]: process[dummy_laser-4]: started with pid [5167]
Initialize urdf model from file: /home/developer/workspaces/ros2-linux/share/dummy_robot_bringup/launch/single_rrbot.urdf
Parsing robot urdf xml string.
Link single_rrbot_link1 had 1 children
Link single_rrbot_link2 had 1 children
Link single_rrbot_link3 had 2 children
Link single_rrbot_camera_link had 0 children
Link single_rrbot_hokuyo_link had 0 children
got segment single_rrbot_camera_link
got segment single_rrbot_hokuyo_link
got segment single_rrbot_link1
got segment single_rrbot_link2
got segment single_rrbot_link3
got segment world
Adding fixed segment from world to single_rrbot_link1
Adding moving segment from single_rrbot_link1 to single_rrbot_link2
Adding moving segment from single_rrbot_link2 to single_rrbot_link3
Adding fixed segment from single_rrbot_link3 to single_rrbot_camera_link
Adding fixed segment from single_rrbot_link3 to single_rrbot_hokuyo_link
[INFO] [dummy_laser]: angle inc:        0.004363
[INFO] [dummy_laser]: scan size:        1081
[INFO] [dummy_laser]: scan time increment:      0.000028
^C[WARNING] [launch.LaunchService]: user interrupted with ctrl-c (SIGINT)
signal_handler(2)
[INFO] [launch]: process[dummy_map_server-1]: process has finished cleanly
[INFO] [launch]: process[robot_state_publisher-2]: process has finished cleanly
[INFO] [launch]: process[dummy_laser-4]: process has finished cleanly
signal_handler(2)
signal_handler(2)
[ERROR] [launch]: process[dummy_joint_states-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [launch]: sending signal 'SIGTERM' to process[dummy_joint_states-3]
[ERROR] [launch]: process[dummy_joint_states-3] process has died [pid 5166, exit code -15, cmd '/home/developer/workspaces/ros2-linux/lib/dummy_sensors/dummy_joint_states'].
$
$ ros2 launch demo_nodes_cpp talker_listener.launch.py
[INFO] [launch]: process[talker-1]: started with pid [5200]
[INFO] [launch]: process[listener-2]: started with pid [5201]
[INFO] [talker]: Publishing: 'Hello World: 1'
[INFO] [listener]: I heard: [Hello World: 1]
[INFO] [talker]: Publishing: 'Hello World: 2'
[INFO] [listener]: I heard: [Hello World: 2]
^C[WARNING] [launch.LaunchService]: user interrupted with ctrl-c (SIGINT)
signal_handler(2)
signal_handler(2)
[INFO] [launch]: process[talker-1]: process has finished cleanly
[INFO] [launch]: process[listener-2]: process has finished cleanly
main|developer@470bab580aa2:~/workspaces$
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Thanks @sloretz for the detailed steps 👍

For Linux users: the ros1_bridge issue can be tested by following the steps listed in the PR: ros2/ros1_bridge#135

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mikaelarguedas commented Aug 22, 2018

Thanks @sloretz for the detailed steps 👍

For Linux users: the ros1_bridge issue can be tested by following the steps listed in the PR: ros2/ros1_bridge#135

@sloretz sloretz added in review and removed in review labels Aug 23, 2018

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sloretz Aug 23, 2018

@mikaelarguedas the ros1_bridge instructions work fine on xenial using lunar and https://ci.ros2.org/job/ci_packaging_linux/142/

sloretz commented Aug 23, 2018

@mikaelarguedas the ros1_bridge instructions work fine on xenial using lunar and https://ci.ros2.org/job/ci_packaging_linux/142/

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Just finished testing arm64 debs (again, without rviz and without the ros1_bridge tests) and everything is ✔️.

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nuclearsandwich commented Aug 23, 2018

Just finished testing arm64 debs (again, without rviz and without the ros1_bridge tests) and everything is ✔️.

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mjcarroll Aug 23, 2018

Bionic testing with debs from: http://repo.ros2.org/ubuntu/testing/

  • Can include sensor_msgs/point_cloud2_iterator.hpp and compile
  • Can filter parameter list by prefix
  • Can echo a truncated message
  • Can run random ros2cli commands
  • Executor only allows a node to be added to it once
  • Once removed from an executor the entities don't get callbacks
  • Able to visualize a laserscan with no intensities and ranges > 1
  • Launch closes successfully after CTRL+C
  • Build a bridge with custom messages: https://ci.ros2.org/job/ci_packaging_linux/142/

mjcarroll commented Aug 23, 2018

Bionic testing with debs from: http://repo.ros2.org/ubuntu/testing/

  • Can include sensor_msgs/point_cloud2_iterator.hpp and compile
  • Can filter parameter list by prefix
  • Can echo a truncated message
  • Can run random ros2cli commands
  • Executor only allows a node to be added to it once
  • Once removed from an executor the entities don't get callbacks
  • Able to visualize a laserscan with no intensities and ranges > 1
  • Launch closes successfully after CTRL+C
  • Build a bridge with custom messages: https://ci.ros2.org/job/ci_packaging_linux/142/
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Windows Release Binary testing (Windows 10 Pro/Visual Studio 15.0)

  • Can include sensor_msgs/point_cloud2_iterator.hpp and compile
  • Can filter parameter list by prefix
  • Can echo a truncated message
  • Can run random ros2cli commands
  • Executor only allows a node to be added to it once
  • Once removed from an executor the entities don't get callbacks

Not tested:

  • Able to visualize a laserscan with no intensities and ranges > 1
  • (RViz doesn't work in VM)
  • Launch closes successfully after CTRL+C
  • (Known issues with CTRL+C) in Windows

Windows Release Source testing (Windows 10 Pro)

  • Can include sensor_msgs/point_cloud2_iterator.hpp and compile
  • Can filter parameter list by prefix
  • Can echo a truncated message
  • Can run random ros2cli commands
  • Executor only allows a node to be added to it once
  • Once removed from an executor the entities don't get callbacks

Not tested:

  • Able to visualize a laserscan with no intensities and ranges > 1
  • (RViz doesn't work in VM)
  • Launch closes successfully after CTRL+C
  • (Known issues with CTRL+C) in Windows

mjcarroll commented Aug 23, 2018

Windows Release Binary testing (Windows 10 Pro/Visual Studio 15.0)

  • Can include sensor_msgs/point_cloud2_iterator.hpp and compile
  • Can filter parameter list by prefix
  • Can echo a truncated message
  • Can run random ros2cli commands
  • Executor only allows a node to be added to it once
  • Once removed from an executor the entities don't get callbacks

Not tested:

  • Able to visualize a laserscan with no intensities and ranges > 1
  • (RViz doesn't work in VM)
  • Launch closes successfully after CTRL+C
  • (Known issues with CTRL+C) in Windows

Windows Release Source testing (Windows 10 Pro)

  • Can include sensor_msgs/point_cloud2_iterator.hpp and compile
  • Can filter parameter list by prefix
  • Can echo a truncated message
  • Can run random ros2cli commands
  • Executor only allows a node to be added to it once
  • Once removed from an executor the entities don't get callbacks

Not tested:

  • Able to visualize a laserscan with no intensities and ranges > 1
  • (RViz doesn't work in VM)
  • Launch closes successfully after CTRL+C
  • (Known issues with CTRL+C) in Windows
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Windows Debug from binaries:

tested everything but:

  • Able to visualize a laserscan with no intensities and ranges > 1

I tested:

  • Launch closes successfully after CTRL+C

For talker_listener it works fine everytime
For dummy_robot_bringup.launch.py I need to Ctrl-C it 2 times for it to exit

[INFO] [launch]: process[dummy_map_server.EXE-1]: started with pid [11128]
[INFO] [launch]: process[robot_state_publisher.EXE-2]: started with pid [2276]
[INFO] [launch]: process[dummy_joint_states.EXE-3]: started with pid [7132]
[INFO] [launch]: process[dummy_laser.EXE-4]: started with pid [6416]
Initialize urdf model from file: C:\dev\ros2-windows\share\dummy_robot_bringup\launch\single_rrbot.urdf
Parsing robot urdf xml string.
Link single_rrbot_link1 had 1 children
Link single_rrbot_link2 had 1 children
Link single_rrbot_link3 had 2 children
Link single_rrbot_camera_link had 0 children
Link single_rrbot_hokuyo_link had 0 children
got segment single_rrbot_camera_link
got segment single_rrbot_hokuyo_link
got segment single_rrbot_link1
got segment single_rrbot_link2
got segment single_rrbot_link3
got segment world
[INFO] [dummy_laser]: angle inc:        0.004363
[INFO] [dummy_laser]: scan size:        1081
[INFO] [dummy_laser]: scan time increment:      0.000028
Adding fixed segment from world to single_rrbot_link1
Adding moving segment from single_rrbot_link1 to single_rrbot_link2
Adding moving segment from single_rrbot_link2 to single_rrbot_link3
Adding fixed segment from single_rrbot_link3 to single_rrbot_camera_link
Adding fixed segment from single_rrbot_link3 to single_rrbot_hokuyo_link
C:\dev\ros2-windows\Lib\site-packages\launch\launch_service.py:299: DeprecationWarning: The 'warn' method is deprecated, use 'warning' instead
  _logger.warn(base_msg)
[WARNING] [launch.LaunchService]: user interrupted with ctrl-c (SIGINT)
signal_handler(2)
[INFO] [launch]: process[dummy_joint_states.EXE-3]: process has finished cleanly
[INFO] [launch]: process[robot_state_publisher.EXE-2]: process has finished cleanly
[INFO] [launch]: process[dummy_map_server.EXE-1]: process has finished cleanly
[INFO] [launch]: process[dummy_laser.EXE-4]: process has finished cleanly
signal_handler(2)
signal_handler(2)
Error in atexit._run_exitfuncs:
Traceback (most recent call last):
  File "C:\dev\ros2-windows\Lib\site-packages\launch\launch_service.py", line 61, in close_loop
    loop.close()
  File "C:\Python37\lib\asyncio\proactor_events.py", line 528, in close
    self._proactor.close()
  File "C:\Python37\lib\asyncio\windows_events.py", line 775, in close
    if not self._poll(1):
  File "C:\Python37\lib\asyncio\windows_events.py", line 703, in _poll
    status = _overlapped.GetQueuedCompletionStatus(self._iocp, ms)
  File "C:\dev\ros2-windows\Lib\site-packages\launch\utilities\signal_management.py", line 120, in __on_sigint
    __original_sigint_handler(signum, frame)
KeyboardInterrupt
Contributor

mikaelarguedas commented Aug 23, 2018

Windows Debug from binaries:

tested everything but:

  • Able to visualize a laserscan with no intensities and ranges > 1

I tested:

  • Launch closes successfully after CTRL+C

For talker_listener it works fine everytime
For dummy_robot_bringup.launch.py I need to Ctrl-C it 2 times for it to exit

[INFO] [launch]: process[dummy_map_server.EXE-1]: started with pid [11128]
[INFO] [launch]: process[robot_state_publisher.EXE-2]: started with pid [2276]
[INFO] [launch]: process[dummy_joint_states.EXE-3]: started with pid [7132]
[INFO] [launch]: process[dummy_laser.EXE-4]: started with pid [6416]
Initialize urdf model from file: C:\dev\ros2-windows\share\dummy_robot_bringup\launch\single_rrbot.urdf
Parsing robot urdf xml string.
Link single_rrbot_link1 had 1 children
Link single_rrbot_link2 had 1 children
Link single_rrbot_link3 had 2 children
Link single_rrbot_camera_link had 0 children
Link single_rrbot_hokuyo_link had 0 children
got segment single_rrbot_camera_link
got segment single_rrbot_hokuyo_link
got segment single_rrbot_link1
got segment single_rrbot_link2
got segment single_rrbot_link3
got segment world
[INFO] [dummy_laser]: angle inc:        0.004363
[INFO] [dummy_laser]: scan size:        1081
[INFO] [dummy_laser]: scan time increment:      0.000028
Adding fixed segment from world to single_rrbot_link1
Adding moving segment from single_rrbot_link1 to single_rrbot_link2
Adding moving segment from single_rrbot_link2 to single_rrbot_link3
Adding fixed segment from single_rrbot_link3 to single_rrbot_camera_link
Adding fixed segment from single_rrbot_link3 to single_rrbot_hokuyo_link
C:\dev\ros2-windows\Lib\site-packages\launch\launch_service.py:299: DeprecationWarning: The 'warn' method is deprecated, use 'warning' instead
  _logger.warn(base_msg)
[WARNING] [launch.LaunchService]: user interrupted with ctrl-c (SIGINT)
signal_handler(2)
[INFO] [launch]: process[dummy_joint_states.EXE-3]: process has finished cleanly
[INFO] [launch]: process[robot_state_publisher.EXE-2]: process has finished cleanly
[INFO] [launch]: process[dummy_map_server.EXE-1]: process has finished cleanly
[INFO] [launch]: process[dummy_laser.EXE-4]: process has finished cleanly
signal_handler(2)
signal_handler(2)
Error in atexit._run_exitfuncs:
Traceback (most recent call last):
  File "C:\dev\ros2-windows\Lib\site-packages\launch\launch_service.py", line 61, in close_loop
    loop.close()
  File "C:\Python37\lib\asyncio\proactor_events.py", line 528, in close
    self._proactor.close()
  File "C:\Python37\lib\asyncio\windows_events.py", line 775, in close
    if not self._poll(1):
  File "C:\Python37\lib\asyncio\windows_events.py", line 703, in _poll
    status = _overlapped.GetQueuedCompletionStatus(self._iocp, ms)
  File "C:\dev\ros2-windows\Lib\site-packages\launch\utilities\signal_management.py", line 120, in __on_sigint
    __original_sigint_handler(signum, frame)
KeyboardInterrupt
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For talker_listener it works fine everytime

That's interesting, perhaps I'm misremembering, but I think that it might be that Windows ctrl-c works but only if the processes you're running behave. The escalation of signals is not a thing on Windows. So I might have been wrong this morning @mjcarroll, sorry about that.

Feel free to open issues against launch for these things, but I don't think it should block the patch release.

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wjwwood commented Aug 23, 2018

For talker_listener it works fine everytime

That's interesting, perhaps I'm misremembering, but I think that it might be that Windows ctrl-c works but only if the processes you're running behave. The escalation of signals is not a thing on Windows. So I might have been wrong this morning @mjcarroll, sorry about that.

Feel free to open issues against launch for these things, but I don't think it should block the patch release.

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mikaelarguedas commented Aug 24, 2018

The patch release is out: https://discourse.ros.org/t/ros-2-bouncy-patch-2-release/5835

Closing this

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wjwwood commented Aug 24, 2018

Thanks @mikaelarguedas!

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