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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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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}")