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Introduce rclcpp_components to implement composition (#665)

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* 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>
This commit is contained in:
Michael Carroll 2019-04-04 11:16:32 -05:00 • committed by GitHub
parent d11a10a583
commit 0f25f714fe
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18 changed files with 1243 additions and 56 deletions
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18
rclcpp_components/cmake/rclcpp_components_package_hook.cmake Normal file
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# Copyright 2019 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# register node plugins
ament_index_register_resource(
"rclcpp_components" CONTENT "${_RCLCPP_COMPONENTS__NODES}")

62
rclcpp_components/cmake/rclcpp_components_register_nodes.cmake Normal file
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# Copyright 2019 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# Register an rclcpp component with the ament resource index.
#
# The passed library can contain multiple nodes each registered via macro.
#
# :param target: the shared library target
# :type target: string
# :param ARGN: the unique plugin names being exported using class_loader
# :type ARGN: list of strings
#
macro(rclcpp_components_register_nodes target)
if(NOT TARGET ${target})
message(
FATAL_ERROR
"rclcpp_components_register_nodes() first argument "
"'${target}' is not a target")
endif()
get_target_property(_target_type ${target} TYPE)
if(NOT _target_type STREQUAL "SHARED_LIBRARY")
message(
FATAL_ERROR
"rclcpp_components_register_nodes() first argument "
"'${target}' is not a shared library target")
endif()
if(${ARGC} GREATER 0)
_rclcpp_components_register_package_hook()
set(_unique_names)
foreach(_arg ${ARGN})
if(_arg IN_LIST _unique_names)
message(
FATAL_ERROR
"rclcpp_components_register_nodes() the plugin names "
"must be unique (multiple '${_arg}')")
endif()
list(APPEND _unique_names "${_arg}")
if(WIN32)
set(_path "bin")
else()
set(_path "lib")
endif()
set(_RCLCPP_COMPONENTS__NODES
"${_RCLCPP_COMPONENTS__NODES}${_arg};${_path}/$<TARGET_FILE_NAME:${target}>\n")
endforeach()
endif()
endmacro()