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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/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="2">
<name>rclcpp_components</name>
<version>0.6.2</version>
<description>Package containing tools for dynamically loadable components</description>
<maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
<license>Apache License 2.0</license>
<buildtool_depend>ament_cmake_ros</buildtool_depend>
<build_depend>ament_index_cpp</build_depend>
<build_depend>class_loader</build_depend>
<build_depend>composition_interfaces</build_depend>
<build_depend>rclcpp</build_depend>
<build_depend>rcpputils</build_depend>
<exec_depend>ament_index_cpp</exec_depend>
<exec_depend>class_loader</exec_depend>
<exec_depend>composition_interfaces</exec_depend>
<exec_depend>rclcpp</exec_depend>
<test_depend>ament_cmake_gtest</test_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<test_depend>launch_testing</test_depend>
<test_depend>std_msgs</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>