Introduce rclcpp_components to implement composition (#665)
* Introduce rclcpp_components package Signed-off-by: Michael Carroll <michael@openrobotics.org> * Keep pointer to NodeWrapper vs NodeInterface. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Remove component registration from rclcpp Signed-off-by: Michael Carroll <michael@openrobotics.org> * Make topics names private-prefix. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Handle name and namespace with remap rules. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Linting. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Address reviewer feedback. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Change to smart pointers for managing memory. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Update to use rcpputils filesystem/split. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Address reviewer feedback and add docs. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Add tests around ComponentManager. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Lint. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Address reviewer feedback and add overflow check. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Fix CI. Signed-off-by: Michael Carroll <michael@openrobotics.org>
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Michael Carroll
GitHub
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0f25f714fe
18 changed files with 1243 additions and 56 deletions
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@ -432,14 +432,7 @@ if(BUILD_TESTING)
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endif()
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endif()
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ament_package(
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CONFIG_EXTRAS rclcpp-extras.cmake
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)
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install(
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DIRECTORY cmake
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DESTINATION share/${PROJECT_NAME}
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)
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ament_package()
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install(
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DIRECTORY include/ ${CMAKE_CURRENT_BINARY_DIR}/include/
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@ -1,26 +0,0 @@
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# Copyright 2015 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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set(rclcpp_node_main_SRC "${rclcpp_DIR}/../../../src/rclcpp/node_main.cpp")
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function(rclcpp_create_node_main node_library_target)
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if(NOT TARGET ${node_library_target})
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message(FATAL_ERROR "rclcpp_create_node_main() the first argument must be a valid target name")
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endif()
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set(executable_name_ ${node_library_target}_node)
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add_executable(${executable_name_} ${rclcpp_node_main_SRC})
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target_link_libraries(${executable_name_} ${node_library_target})
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install(TARGETS ${executable_name_} DESTINATION bin)
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endfunction()
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@ -1,17 +0,0 @@
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# Copyright 2016 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# register node plugins
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ament_index_register_resource(
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"node_plugin" CONTENT "${_RCLCPP__NODE_PLUGINS}")
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@ -1,61 +0,0 @@
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# Copyright 2016 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# Register a node plugin with the ament resource index.
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#
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# The passed library can contain multiple plugins extending the node interface.
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#
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# :param target: the shared library target
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# :type target: string
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# :param ARGN: the unique plugin names being exported using class_loader
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# :type ARGN: list of strings
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#
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macro(rclcpp_register_node_plugins target)
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if(NOT TARGET ${target})
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message(
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FATAL_ERROR
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"rclcpp_register_node_plugins() first argument "
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"'${target}' is not a target")
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endif()
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get_target_property(_target_type ${target} TYPE)
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if(NOT _target_type STREQUAL "SHARED_LIBRARY")
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message(
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FATAL_ERROR
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"rclcpp_register_node_plugins() first argument "
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"'${target}' is not a shared library target")
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endif()
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if(${ARGC} GREATER 0)
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_rclcpp_register_package_hook()
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set(_unique_names)
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foreach(_arg ${ARGN})
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if(_arg IN_LIST _unique_names)
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message(
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FATAL_ERROR
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"rclcpp_register_node_plugins() the plugin names "
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"must be unique (multiple '${_arg}')")
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endif()
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list(APPEND _unique_names "${_arg}")
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if(WIN32)
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set(_path "bin")
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else()
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set(_path "lib")
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endif()
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set(_RCLCPP__NODE_PLUGINS
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"${_RCLCPP__NODE_PLUGINS}${_arg};${_path}/$<TARGET_FILE_NAME:${target}>\n")
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endforeach()
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endif()
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endmacro()
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@ -1,29 +0,0 @@
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# Copyright 2015 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# copied from rclcpp/rclcpp-extras.cmake
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# register ament_package() hook for node plugins once
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macro(_rclcpp_register_package_hook)
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if(NOT DEFINED _RCLCPP_PACKAGE_HOOK_REGISTERED)
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set(_RCLCPP_PACKAGE_HOOK_REGISTERED TRUE)
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find_package(ament_cmake_core QUIET REQUIRED)
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ament_register_extension("ament_package" "rclcpp"
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"rclcpp_package_hook.cmake")
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endif()
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endmacro()
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include("${rclcpp_DIR}/rclcpp_create_node_main.cmake")
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include("${rclcpp_DIR}/rclcpp_register_node_plugins.cmake")
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