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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/test/components/test_component.cpp 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.
#include "rclcpp/rclcpp.hpp"
namespace test_rclcpp_components
{
/// Simple test component
class TestComponentFoo : public rclcpp::Node
{
public:
explicit TestComponentFoo(rclcpp::NodeOptions options)
: rclcpp::Node("test_component_foo", options)
{
}
};
/// Simple test component
class TestComponentBar : public rclcpp::Node
{
public:
explicit TestComponentBar(rclcpp::NodeOptions options)
: rclcpp::Node("test_component_bar", options)
{
}
};
/// Simple test component that doesn't inherit from rclcpp::Node
class TestComponentNoNode
{
public:
explicit TestComponentNoNode(rclcpp::NodeOptions options)
: node_("test_component_no_node", options)
{
}
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr
get_node_base_interface()
{
return node_.get_node_base_interface();
}
private:
rclcpp::Node node_;
};
} // namespace test_rclcpp_components
#include "rclcpp_components/register_node_macro.hpp"
// Register the component with class_loader.
// This acts as a sort of entry point, allowing the component to be discoverable when its library
// is being loaded into a running process.
RCLCPP_COMPONENTS_REGISTER_NODE(test_rclcpp_components::TestComponentFoo)
RCLCPP_COMPONENTS_REGISTER_NODE(test_rclcpp_components::TestComponentBar)
RCLCPP_COMPONENTS_REGISTER_NODE(test_rclcpp_components::TestComponentNoNode)