remove features and related code which were deprecated in dashing (#852)
Signed-off-by: William Woodall <william@osrfoundation.org>
This commit is contained in:
William Woodall
GitHub
parent
dfb144d3cb
commit
89119c6422
19 changed files with 3 additions and 1051 deletions
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@ -462,17 +462,6 @@ if(BUILD_TESTING)
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"rcl")
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target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
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endif()
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ament_add_gtest(test_local_parameters test/test_local_parameters.cpp)
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if(TARGET test_local_parameters)
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ament_target_dependencies(test_local_parameters
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"rcl_interfaces"
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"rmw"
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"rosidl_generator_cpp"
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"rosidl_typesupport_cpp"
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)
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target_link_libraries(test_local_parameters ${PROJECT_NAME})
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endif()
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endif()
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ament_package()
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@ -29,36 +29,6 @@
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namespace rclcpp
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{
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template<
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typename MessageT,
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typename AllocatorT = std::allocator<void>,
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typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
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// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
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[[deprecated("use alternative rclcpp::create_publisher() signatures")]]
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std::shared_ptr<PublisherT>
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create_publisher(
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rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
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const std::string & topic_name,
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const rmw_qos_profile_t & qos_profile,
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const PublisherEventCallbacks & event_callbacks,
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rclcpp::callback_group::CallbackGroup::SharedPtr group,
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bool use_intra_process_comms,
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std::shared_ptr<AllocatorT> allocator)
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{
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auto publisher_options = rcl_publisher_get_default_options();
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publisher_options.qos = qos_profile;
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auto pub = node_topics->create_publisher(
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topic_name,
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rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(event_callbacks, allocator),
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publisher_options,
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use_intra_process_comms);
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node_topics->add_publisher(pub, group);
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return std::dynamic_pointer_cast<PublisherT>(pub);
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}
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/// Create and return a publisher of the given MessageT type.
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/**
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* The NodeT type only needs to have a method called get_node_topics_interface()
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@ -29,49 +29,6 @@
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namespace rclcpp
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{
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template<
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typename MessageT,
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typename CallbackT,
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typename AllocatorT,
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typename CallbackMessageT,
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typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>>
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// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
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[[deprecated("use alternative rclcpp::create_subscription() signatures")]]
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typename std::shared_ptr<SubscriptionT>
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create_subscription(
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rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
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const std::string & topic_name,
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CallbackT && callback,
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const rmw_qos_profile_t & qos_profile,
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const SubscriptionEventCallbacks & event_callbacks,
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rclcpp::callback_group::CallbackGroup::SharedPtr group,
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bool ignore_local_publications,
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bool use_intra_process_comms,
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
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CallbackMessageT, AllocatorT>::SharedPtr
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msg_mem_strat,
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typename std::shared_ptr<AllocatorT> allocator)
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{
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auto subscription_options = rcl_subscription_get_default_options();
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subscription_options.qos = qos_profile;
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subscription_options.ignore_local_publications = ignore_local_publications;
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auto factory = rclcpp::create_subscription_factory
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<MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT>(
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std::forward<CallbackT>(callback),
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event_callbacks,
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msg_mem_strat,
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allocator);
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auto sub = node_topics->create_subscription(
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topic_name,
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factory,
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subscription_options,
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use_intra_process_comms);
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node_topics->add_subscription(sub, group);
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return std::dynamic_pointer_cast<SubscriptionT>(sub);
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}
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/// Create and return a subscription of the given MessageT type.
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/**
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* The NodeT type only needs to have a method called get_node_topics_interface()
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@ -174,7 +174,7 @@ public:
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template<
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typename MessageT,
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typename AllocatorT = std::allocator<void>,
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typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
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typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>>
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std::shared_ptr<PublisherT>
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create_publisher(
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const std::string & topic_name,
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@ -183,44 +183,6 @@ public:
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PublisherOptionsWithAllocator<AllocatorT>()
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);
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/// Create and return a Publisher.
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/**
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* \param[in] topic_name The topic for this publisher to publish on.
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* \param[in] qos_history_depth The depth of the publisher message queue.
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* \param[in] allocator Custom allocator.
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* \return Shared pointer to the created publisher.
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*/
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template<
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typename MessageT,
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typename AllocatorT = std::allocator<void>,
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typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
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// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
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[[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
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std::shared_ptr<PublisherT>
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create_publisher(
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const std::string & topic_name,
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size_t qos_history_depth,
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std::shared_ptr<AllocatorT> allocator);
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/// Create and return a Publisher.
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/**
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* \param[in] topic_name The topic for this publisher to publish on.
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* \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
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* \param[in] allocator Optional custom allocator.
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* \return Shared pointer to the created publisher.
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*/
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template<
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typename MessageT,
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typename AllocatorT = std::allocator<void>,
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typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
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// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
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[[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
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std::shared_ptr<PublisherT>
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create_publisher(
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const std::string & topic_name,
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const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
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std::shared_ptr<AllocatorT> allocator = nullptr);
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/// Create and return a Subscription.
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/**
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* \param[in] topic_name The topic to subscribe on.
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@ -252,80 +214,6 @@ public:
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>::SharedPtr
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msg_mem_strat = nullptr);
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/// Create and return a Subscription.
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/**
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* \param[in] topic_name The topic to subscribe on.
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* \param[in] callback The user-defined callback function.
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* \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
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* \param[in] group The callback group for this subscription. NULL for no callback group.
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* \param[in] ignore_local_publications True to ignore local publications.
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* \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
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* \param[in] allocator Optional custom allocator.
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* \return Shared pointer to the created subscription.
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*/
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/* TODO(jacquelinekay):
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Windows build breaks when static member function passed as default
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argument to msg_mem_strat, nullptr is a workaround.
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*/
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template<
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typename MessageT,
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typename CallbackT,
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typename Alloc = std::allocator<void>,
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typename SubscriptionT = rclcpp::Subscription<
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typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>>
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// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
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[[deprecated(
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"use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
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)]]
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std::shared_ptr<SubscriptionT>
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create_subscription(
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const std::string & topic_name,
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CallbackT && callback,
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const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
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rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
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bool ignore_local_publications = false,
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
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typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
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msg_mem_strat = nullptr,
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std::shared_ptr<Alloc> allocator = nullptr);
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/// Create and return a Subscription.
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/**
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* \param[in] topic_name The topic to subscribe on.
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* \param[in] qos_history_depth The depth of the subscription's incoming message queue.
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* \param[in] callback The user-defined callback function.
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* \param[in] group The callback group for this subscription. NULL for no callback group.
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* \param[in] ignore_local_publications True to ignore local publications.
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* \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
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* \param[in] allocator Optional custom allocator.
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* \return Shared pointer to the created subscription.
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*/
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/* TODO(jacquelinekay):
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Windows build breaks when static member function passed as default
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argument to msg_mem_strat, nullptr is a workaround.
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*/
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template<
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typename MessageT,
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typename CallbackT,
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typename Alloc = std::allocator<void>,
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typename SubscriptionT = rclcpp::Subscription<
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typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>>
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// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
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[[deprecated(
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"use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
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)]]
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std::shared_ptr<SubscriptionT>
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create_subscription(
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const std::string & topic_name,
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CallbackT && callback,
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size_t qos_history_depth,
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rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
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bool ignore_local_publications = false,
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
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typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
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msg_mem_strat = nullptr,
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std::shared_ptr<Alloc> allocator = nullptr);
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/// Create a timer.
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/**
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* \param[in] period Time interval between triggers of the callback.
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@ -624,38 +512,6 @@ public:
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rcl_interfaces::msg::SetParametersResult
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set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
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/// Set one parameter, unless that parameter has already been set.
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/**
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* Set the given parameter unless already set.
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*
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* Deprecated, instead use declare_parameter().
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*
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* \param[in] parameters The vector of parameters to be set.
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* \return The result of each set action as a vector.
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*/
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template<typename ParameterT>
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// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
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[[deprecated("use declare_parameter() instead")]]
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void
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set_parameter_if_not_set(const std::string & name, const ParameterT & value);
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/// Set a map of parameters with the same prefix.
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/**
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* For each key in the map, a parameter with a name of "name.key" will be set
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* to the value in the map.
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*
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* Deprecated, instead use declare_parameters().
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*
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* \param[in] name The prefix of the parameters to set.
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* \param[in] values The parameters to set in the given prefix.
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*/
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template<typename ParameterT>
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[[deprecated("use declare_parameters() instead")]]
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void
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set_parameters_if_not_set(
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const std::string & name,
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const std::map<std::string, ParameterT> & values);
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/// Return the parameter by the given name.
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/**
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* If the parameter has not been declared, then this method may throw the
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@ -799,28 +655,6 @@ public:
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const std::string & prefix,
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std::map<std::string, ParameterT> & values) const;
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/// Get the parameter value; if not set, set the "alternative value" and store it in the node.
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/**
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* If the parameter is set, then the "value" argument is assigned the value
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* in the parameter.
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* If the parameter is not set, then the "value" argument is assigned the "alternative_value",
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* and the parameter is set to the "alternative_value" on the node.
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*
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* Deprecated, instead use declare_parameter()'s return value, or use
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* has_parameter() to ensure it exists before getting it.
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*
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* \param[in] name The name of the parameter to get.
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* \param[out] value The output where the value of the parameter should be assigned.
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* \param[in] alternative_value Value to be used if the parameter was not set.
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*/
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template<typename ParameterT>
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[[deprecated("use declare_parameter() and its return value instead")]]
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void
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get_parameter_or_set(
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const std::string & name,
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ParameterT & value,
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const ParameterT & alternative_value);
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/// Return the parameter descriptor for the given parameter name.
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/**
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* Like get_parameters(), this method may throw the
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@ -1006,17 +840,6 @@ public:
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OnParametersSetCallbackType
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set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback);
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/// Register the callback for parameter changes
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/**
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* \param[in] callback User defined callback function.
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* It is expected to atomically set parameters.
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* \note Repeated invocations of this function will overwrite previous callbacks.
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*/
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template<typename CallbackT>
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[[deprecated("use set_on_parameters_set_callback() instead")]]
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void
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register_param_change_callback(CallbackT && callback);
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/// Get the fully-qualified names of all available nodes.
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/**
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* The fully-qualified name includes the local namespace and name of the node.
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@ -79,34 +79,6 @@ Node::create_publisher(
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options);
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}
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template<typename MessageT, typename AllocatorT, typename PublisherT>
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std::shared_ptr<PublisherT>
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Node::create_publisher(
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const std::string & topic_name,
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size_t qos_history_depth,
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std::shared_ptr<AllocatorT> allocator)
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{
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PublisherOptionsWithAllocator<AllocatorT> pub_options;
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pub_options.allocator = allocator;
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return this->create_publisher<MessageT, AllocatorT, PublisherT>(
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topic_name, rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)), pub_options);
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}
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template<typename MessageT, typename AllocatorT, typename PublisherT>
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std::shared_ptr<PublisherT>
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Node::create_publisher(
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const std::string & topic_name,
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const rmw_qos_profile_t & qos_profile,
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std::shared_ptr<AllocatorT> allocator)
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{
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rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
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qos.get_rmw_qos_profile() = qos_profile;
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PublisherOptionsWithAllocator<AllocatorT> pub_options;
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pub_options.allocator = allocator;
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return this->create_publisher<MessageT, AllocatorT, PublisherT>(topic_name, qos, pub_options);
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}
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template<
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typename MessageT,
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typename CallbackT,
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@ -131,65 +103,6 @@ Node::create_subscription(
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msg_mem_strat);
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}
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template<
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typename MessageT,
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typename CallbackT,
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typename Alloc,
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typename SubscriptionT>
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std::shared_ptr<SubscriptionT>
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Node::create_subscription(
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const std::string & topic_name,
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CallbackT && callback,
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const rmw_qos_profile_t & qos_profile,
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rclcpp::callback_group::CallbackGroup::SharedPtr group,
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bool ignore_local_publications,
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
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typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
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msg_mem_strat,
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std::shared_ptr<Alloc> allocator)
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{
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rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
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qos.get_rmw_qos_profile() = qos_profile;
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SubscriptionOptionsWithAllocator<Alloc> sub_options;
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sub_options.callback_group = group;
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sub_options.ignore_local_publications = ignore_local_publications;
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sub_options.allocator = allocator;
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return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
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topic_name, qos, std::forward<CallbackT>(callback), sub_options, msg_mem_strat);
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}
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template<
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typename MessageT,
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typename CallbackT,
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typename Alloc,
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typename SubscriptionT>
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std::shared_ptr<SubscriptionT>
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Node::create_subscription(
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const std::string & topic_name,
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CallbackT && callback,
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size_t qos_history_depth,
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rclcpp::callback_group::CallbackGroup::SharedPtr group,
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bool ignore_local_publications,
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
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typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
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msg_mem_strat,
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std::shared_ptr<Alloc> allocator)
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{
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SubscriptionOptionsWithAllocator<Alloc> sub_options;
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sub_options.callback_group = group;
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sub_options.ignore_local_publications = ignore_local_publications;
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sub_options.allocator = allocator;
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return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
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topic_name,
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rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)),
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std::forward<CallbackT>(callback),
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sub_options,
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msg_mem_strat);
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}
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template<typename DurationRepT, typename DurationT, typename CallbackT>
|
||||
typename rclcpp::WallTimer<CallbackT>::SharedPtr
|
||||
Node::create_wall_timer(
|
||||
|
|
@ -303,44 +216,6 @@ Node::declare_parameters(
|
|||
return result;
|
||||
}
|
||||
|
||||
template<typename ParameterT>
|
||||
void
|
||||
Node::set_parameter_if_not_set(
|
||||
const std::string & name,
|
||||
const ParameterT & value)
|
||||
{
|
||||
if (
|
||||
!this->has_parameter(name) ||
|
||||
this->describe_parameter(name).type == PARAMETER_NOT_SET)
|
||||
{
|
||||
this->set_parameter(rclcpp::Parameter(name, value));
|
||||
}
|
||||
}
|
||||
|
||||
// this is a partially-specialized version of set_parameter_if_not_set above,
|
||||
// where our concrete type for ParameterT is std::map, but the to-be-determined
|
||||
// type is the value in the map.
|
||||
template<typename ParameterT>
|
||||
void
|
||||
Node::set_parameters_if_not_set(
|
||||
const std::string & name,
|
||||
const std::map<std::string, ParameterT> & values)
|
||||
{
|
||||
std::vector<rclcpp::Parameter> params;
|
||||
|
||||
for (const auto & val : values) {
|
||||
std::string parameter_name = name + "." + val.first;
|
||||
if (
|
||||
!this->has_parameter(parameter_name) ||
|
||||
this->describe_parameter(parameter_name).type == PARAMETER_NOT_SET)
|
||||
{
|
||||
params.push_back(rclcpp::Parameter(parameter_name, val.second));
|
||||
}
|
||||
}
|
||||
|
||||
this->set_parameters(params);
|
||||
}
|
||||
|
||||
template<typename ParameterT>
|
||||
bool
|
||||
Node::get_parameter(const std::string & name, ParameterT & parameter) const
|
||||
|
|
@ -393,29 +268,6 @@ Node::get_parameters(
|
|||
return result;
|
||||
}
|
||||
|
||||
template<typename ParameterT>
|
||||
void
|
||||
Node::get_parameter_or_set(
|
||||
const std::string & name,
|
||||
ParameterT & value,
|
||||
const ParameterT & alternative_value)
|
||||
{
|
||||
std::string sub_name = extend_name_with_sub_namespace(name, this->get_sub_namespace());
|
||||
|
||||
bool got_parameter = get_parameter(sub_name, value);
|
||||
if (!got_parameter) {
|
||||
this->set_parameters({rclcpp::Parameter(sub_name, alternative_value), });
|
||||
value = alternative_value;
|
||||
}
|
||||
}
|
||||
|
||||
template<typename CallbackT>
|
||||
void
|
||||
Node::register_param_change_callback(CallbackT && callback)
|
||||
{
|
||||
this->node_parameters_->register_param_change_callback(std::forward<CallbackT>(callback));
|
||||
}
|
||||
|
||||
} // namespace rclcpp
|
||||
|
||||
#endif // RCLCPP__NODE_IMPL_HPP_
|
||||
|
|
|
|||
|
|
@ -170,11 +170,6 @@ public:
|
|||
OnParametersSetCallbackType
|
||||
set_on_parameters_set_callback(OnParametersSetCallbackType callback) override;
|
||||
|
||||
[[deprecated("use set_on_parameters_set_callback() instead")]]
|
||||
RCLCPP_PUBLIC
|
||||
void
|
||||
register_param_change_callback(OnParametersSetCallbackType callback) override;
|
||||
|
||||
RCLCPP_PUBLIC
|
||||
const std::map<std::string, rclcpp::ParameterValue> &
|
||||
get_parameter_overrides() const override;
|
||||
|
|
|
|||
|
|
@ -173,9 +173,6 @@ public:
|
|||
|
||||
using OnParametersSetCallbackType = OnSetParametersCallbackHandle::OnParametersSetCallbackType;
|
||||
|
||||
using ParametersCallbackFunction [[deprecated("use OnParametersSetCallbackType instead")]] =
|
||||
OnParametersSetCallbackType;
|
||||
|
||||
/// Add a callback for when parameters are being set.
|
||||
/**
|
||||
* \sa rclcpp::Node::add_on_set_parameters_callback
|
||||
|
|
@ -203,12 +200,6 @@ public:
|
|||
OnParametersSetCallbackType
|
||||
set_on_parameters_set_callback(OnParametersSetCallbackType callback) = 0;
|
||||
|
||||
[[deprecated("use set_on_parameters_set_callback() instead")]]
|
||||
RCLCPP_PUBLIC
|
||||
virtual
|
||||
void
|
||||
register_param_change_callback(OnParametersSetCallbackType callback) = 0;
|
||||
|
||||
/// Return the initial parameter values used by the NodeParameters to override default values.
|
||||
RCLCPP_PUBLIC
|
||||
virtual
|
||||
|
|
|
|||
|
|
@ -127,18 +127,6 @@ public:
|
|||
}
|
||||
}
|
||||
|
||||
// Skip deprecated attribute in windows, as it raise a warning in template specialization.
|
||||
#if !defined(_WIN32)
|
||||
[[deprecated(
|
||||
"publishing an unique_ptr is prefered when using intra process communication."
|
||||
" If using a shared_ptr, use publish(*msg).")]]
|
||||
#endif
|
||||
virtual void
|
||||
publish(const std::shared_ptr<const MessageT> & msg)
|
||||
{
|
||||
publish(*msg);
|
||||
}
|
||||
|
||||
virtual void
|
||||
publish(const MessageT & msg)
|
||||
{
|
||||
|
|
@ -156,48 +144,12 @@ public:
|
|||
this->publish(std::move(unique_msg));
|
||||
}
|
||||
|
||||
// Skip deprecated attribute in windows, as it raise a warning in template specialization.
|
||||
#if !defined(_WIN32)
|
||||
[[deprecated(
|
||||
"Use publish(*msg). Check against nullptr before calling if necessary.")]]
|
||||
#endif
|
||||
virtual void
|
||||
publish(const MessageT * msg)
|
||||
{
|
||||
if (!msg) {
|
||||
throw std::runtime_error("msg argument is nullptr");
|
||||
}
|
||||
return this->publish(*msg);
|
||||
}
|
||||
|
||||
void
|
||||
publish(const rcl_serialized_message_t & serialized_msg)
|
||||
{
|
||||
return this->do_serialized_publish(&serialized_msg);
|
||||
}
|
||||
|
||||
// Skip deprecated attribute in windows, as it raise a warning in template specialization.
|
||||
#if !defined(_WIN32)
|
||||
[[deprecated(
|
||||
"Use publish(*serialized_msg). Check against nullptr before calling if necessary.")]]
|
||||
#endif
|
||||
void
|
||||
publish(const rcl_serialized_message_t * serialized_msg)
|
||||
{
|
||||
return this->do_serialized_publish(serialized_msg);
|
||||
}
|
||||
|
||||
// Skip deprecated attribute in windows, as it raise a warning in template specialization.
|
||||
#if !defined(_WIN32)
|
||||
[[deprecated(
|
||||
"Use publish(*serialized_msg). Check against nullptr before calling if necessary.")]]
|
||||
#endif
|
||||
void
|
||||
publish(std::shared_ptr<const rcl_serialized_message_t> serialized_msg)
|
||||
{
|
||||
return this->do_serialized_publish(serialized_msg.get());
|
||||
}
|
||||
|
||||
std::shared_ptr<MessageAlloc> get_allocator() const
|
||||
{
|
||||
return message_allocator_;
|
||||
|
|
|
|||
|
|
@ -48,7 +48,8 @@
|
|||
* - rclcpp::Node::get_parameter()
|
||||
* - rclcpp::Node::describe_parameters()
|
||||
* - rclcpp::Node::list_parameters()
|
||||
* - rclcpp::Node::register_param_change_callback()
|
||||
* - rclcpp::Node::add_on_set_parameters_callback()
|
||||
* - rclcpp::Node::remove_on_set_parameters_callback()
|
||||
* - rclcpp::Parameter
|
||||
* - rclcpp::ParameterValue
|
||||
* - rclcpp::AsyncParametersClient
|
||||
|
|
|
|||
|
|
@ -27,17 +27,7 @@
|
|||
#include "rclcpp/node_interfaces/node_clock.hpp"
|
||||
#include "rclcpp/node_interfaces/node_graph.hpp"
|
||||
#include "rclcpp/node_interfaces/node_logging.hpp"
|
||||
// When compiling this file, Windows produces a deprecation warning for the
|
||||
// deprecated function prototype of NodeParameters::register_param_change_callback().
|
||||
// Other compilers do not.
|
||||
#if defined(_WIN32)
|
||||
# pragma warning(push)
|
||||
# pragma warning(disable: 4996)
|
||||
#endif
|
||||
#include "rclcpp/node_interfaces/node_parameters.hpp"
|
||||
#if defined(_WIN32)
|
||||
# pragma warning(pop)
|
||||
#endif
|
||||
#include "rclcpp/node_interfaces/node_services.hpp"
|
||||
#include "rclcpp/node_interfaces/node_time_source.hpp"
|
||||
#include "rclcpp/node_interfaces/node_timers.hpp"
|
||||
|
|
|
|||
|
|
@ -12,17 +12,7 @@
|
|||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
// When compiling this file, Windows produces a deprecation warning for the
|
||||
// deprecated function prototype of NodeParameters::register_param_change_callback().
|
||||
// Other compilers do not.
|
||||
#if defined(_WIN32)
|
||||
# pragma warning(push)
|
||||
# pragma warning(disable: 4996)
|
||||
#endif
|
||||
#include "rclcpp/node_interfaces/node_parameters.hpp"
|
||||
#if defined(_WIN32)
|
||||
# pragma warning(pop)
|
||||
#endif
|
||||
|
||||
#include <rcl_yaml_param_parser/parser.h>
|
||||
|
||||
|
|
@ -919,33 +909,6 @@ NodeParameters::set_on_parameters_set_callback(OnParametersSetCallbackType callb
|
|||
return existing_callback;
|
||||
}
|
||||
|
||||
#if !defined(_WIN32)
|
||||
# pragma GCC diagnostic push
|
||||
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
|
||||
#else // !defined(_WIN32)
|
||||
# pragma warning(push)
|
||||
# pragma warning(disable: 4996)
|
||||
#endif
|
||||
void
|
||||
NodeParameters::register_param_change_callback(ParametersCallbackFunction callback)
|
||||
{
|
||||
std::lock_guard<std::recursive_mutex> lock(mutex_);
|
||||
|
||||
ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
|
||||
|
||||
if (on_parameters_set_callback_) {
|
||||
RCLCPP_WARN(
|
||||
node_logging_->get_logger(),
|
||||
"on_parameters_set_callback already registered, overwriting previous callback");
|
||||
}
|
||||
on_parameters_set_callback_ = callback;
|
||||
}
|
||||
#if !defined(_WIN32)
|
||||
# pragma GCC diagnostic pop
|
||||
#else // !defined(_WIN32)
|
||||
# pragma warning(pop)
|
||||
#endif
|
||||
|
||||
const std::map<std::string, rclcpp::ParameterValue> &
|
||||
NodeParameters::get_parameter_overrides() const
|
||||
{
|
||||
|
|
|
|||
|
|
@ -19,17 +19,7 @@
|
|||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
// When compiling this file, Windows produces a deprecation warning for the
|
||||
// deprecated function prototype of NodeParameters::register_param_change_callback().
|
||||
// Other compilers do not.
|
||||
#if defined(_WIN32)
|
||||
# pragma warning(push)
|
||||
# pragma warning(disable: 4996)
|
||||
#endif
|
||||
#include "rclcpp/node_interfaces/node_parameters.hpp"
|
||||
#if defined(_WIN32)
|
||||
# pragma warning(pop)
|
||||
#endif
|
||||
#include "rclcpp/utilities.hpp"
|
||||
|
||||
using rclcpp::ParameterType;
|
||||
|
|
|
|||
|
|
@ -1,97 +0,0 @@
|
|||
// Copyright 2018 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 <cstdio>
|
||||
#include <map>
|
||||
#include <string>
|
||||
|
||||
#include "gtest/gtest.h"
|
||||
|
||||
#include "rclcpp/rclcpp.hpp"
|
||||
|
||||
TEST(test_local_parameters, set_parameter_if_not_set) {
|
||||
auto node = rclcpp::Node::make_shared(
|
||||
"test_local_parameters_set_parameter_if_not_set",
|
||||
rclcpp::NodeOptions().allow_undeclared_parameters(true));
|
||||
|
||||
{
|
||||
// try to set a map of parameters
|
||||
std::map<std::string, double> bar_map{
|
||||
{"x", 0.5},
|
||||
{"y", 1.0},
|
||||
};
|
||||
#if !defined(_WIN32)
|
||||
# pragma GCC diagnostic push
|
||||
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
|
||||
#else // !defined(_WIN32)
|
||||
# pragma warning(push)
|
||||
# pragma warning(disable: 4996)
|
||||
#endif
|
||||
node->set_parameters_if_not_set("bar", bar_map);
|
||||
#if !defined(_WIN32)
|
||||
# pragma GCC diagnostic pop
|
||||
#else // !defined(_WIN32)
|
||||
# pragma warning(pop)
|
||||
#endif
|
||||
double bar_x_value;
|
||||
ASSERT_TRUE(node->get_parameter("bar.x", bar_x_value));
|
||||
EXPECT_EQ(bar_x_value, 0.5);
|
||||
double bar_y_value;
|
||||
ASSERT_TRUE(node->get_parameter("bar.y", bar_y_value));
|
||||
EXPECT_EQ(bar_y_value, 1.0);
|
||||
std::map<std::string, double> new_map;
|
||||
ASSERT_TRUE(node->get_parameters("bar", new_map));
|
||||
ASSERT_EQ(new_map.size(), 2U);
|
||||
EXPECT_EQ(new_map["x"], 0.5);
|
||||
EXPECT_EQ(new_map["y"], 1.0);
|
||||
}
|
||||
|
||||
{
|
||||
// try to get a map of parameters that doesn't exist
|
||||
std::map<std::string, double> no_exist_map;
|
||||
ASSERT_FALSE(node->get_parameters("no_exist", no_exist_map));
|
||||
}
|
||||
|
||||
{
|
||||
// set parameters for a map with different types, then try to get them back as a map
|
||||
#if !defined(_WIN32)
|
||||
# pragma GCC diagnostic push
|
||||
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
|
||||
#else // !defined(_WIN32)
|
||||
# pragma warning(push)
|
||||
# pragma warning(disable: 4996)
|
||||
#endif
|
||||
node->set_parameter_if_not_set("baz.x", 1.0);
|
||||
node->set_parameter_if_not_set("baz.y", "hello");
|
||||
#if !defined(_WIN32)
|
||||
# pragma GCC diagnostic pop
|
||||
#else // !defined(_WIN32)
|
||||
# pragma warning(pop)
|
||||
#endif
|
||||
std::map<std::string, double> baz_map;
|
||||
EXPECT_THROW(node->get_parameters("baz", baz_map), rclcpp::ParameterTypeException);
|
||||
}
|
||||
}
|
||||
|
||||
int main(int argc, char ** argv)
|
||||
{
|
||||
::setvbuf(stdout, NULL, _IONBF, BUFSIZ);
|
||||
|
||||
// NOTE: use custom main to ensure that rclcpp::init is called only once
|
||||
rclcpp::init(argc, argv);
|
||||
::testing::InitGoogleTest(&argc, argv);
|
||||
int ret = RUN_ALL_TESTS();
|
||||
rclcpp::shutdown();
|
||||
return ret;
|
||||
}
|
||||
|
|
@ -139,41 +139,6 @@ TEST_F(TestPublisher, various_creation_signatures) {
|
|||
rclcpp::create_publisher<IntraProcessMessage>(node, "topic", 42, rclcpp::PublisherOptions());
|
||||
(void)publisher;
|
||||
}
|
||||
// Now deprecated functions.
|
||||
#if !defined(_WIN32)
|
||||
# pragma GCC diagnostic push
|
||||
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
|
||||
#else // !defined(_WIN32)
|
||||
# pragma warning(push)
|
||||
# pragma warning(disable: 4996)
|
||||
#endif
|
||||
{
|
||||
auto publisher = node->create_publisher<IntraProcessMessage>("topic");
|
||||
(void)publisher;
|
||||
}
|
||||
{
|
||||
auto publisher = node->create_publisher<IntraProcessMessage>(
|
||||
"topic",
|
||||
42,
|
||||
std::make_shared<std::allocator<IntraProcessMessage>>());
|
||||
(void)publisher;
|
||||
}
|
||||
{
|
||||
auto publisher = node->create_publisher<IntraProcessMessage>("topic", rmw_qos_profile_default);
|
||||
(void)publisher;
|
||||
}
|
||||
{
|
||||
auto publisher = node->create_publisher<IntraProcessMessage>(
|
||||
"topic",
|
||||
rmw_qos_profile_default,
|
||||
std::make_shared<std::allocator<IntraProcessMessage>>());
|
||||
(void)publisher;
|
||||
}
|
||||
#if !defined(_WIN32)
|
||||
# pragma GCC diagnostic pop
|
||||
#else // !defined(_WIN32)
|
||||
# pragma warning(pop)
|
||||
#endif
|
||||
}
|
||||
|
||||
/*
|
||||
|
|
|
|||
|
|
@ -203,40 +203,6 @@ TEST_F(TestSubscription, various_creation_signatures) {
|
|||
node, "topic", 42, cb, rclcpp::SubscriptionOptions());
|
||||
(void)sub;
|
||||
}
|
||||
// Now deprecated functions.
|
||||
#if !defined(_WIN32)
|
||||
# pragma GCC diagnostic push
|
||||
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
|
||||
#else // !defined(_WIN32)
|
||||
# pragma warning(push)
|
||||
# pragma warning(disable: 4996)
|
||||
#endif
|
||||
{
|
||||
auto sub = node->create_subscription<IntraProcessMessage>("topic", cb, 42);
|
||||
(void)sub;
|
||||
}
|
||||
{
|
||||
auto sub = node->create_subscription<IntraProcessMessage>("topic", cb);
|
||||
(void)sub;
|
||||
}
|
||||
{
|
||||
auto sub = node->create_subscription<IntraProcessMessage>("topic", cb, rmw_qos_profile_default);
|
||||
(void)sub;
|
||||
}
|
||||
{
|
||||
auto sub =
|
||||
node->create_subscription<IntraProcessMessage>("topic", cb, rmw_qos_profile_default, nullptr);
|
||||
(void)sub;
|
||||
}
|
||||
{
|
||||
auto sub = node->create_subscription<IntraProcessMessage>("topic", cb, 42, nullptr);
|
||||
(void)sub;
|
||||
}
|
||||
#if !defined(_WIN32)
|
||||
# pragma GCC diagnostic pop
|
||||
#else // !defined(_WIN32)
|
||||
# pragma warning(pop)
|
||||
#endif
|
||||
}
|
||||
|
||||
/*
|
||||
|
|
|
|||
|
|
@ -170,38 +170,6 @@ public:
|
|||
create_default_publisher_options<AllocatorT>()
|
||||
);
|
||||
|
||||
/// Create and return a Publisher.
|
||||
/**
|
||||
* \param[in] topic_name The topic for this publisher to publish on.
|
||||
* \param[in] qos_history_depth The depth of the publisher message queue.
|
||||
* \param[in] allocator allocator to use during publishing activities.
|
||||
* \return Shared pointer to the created publisher.
|
||||
*/
|
||||
template<typename MessageT, typename Alloc = std::allocator<void>>
|
||||
// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
|
||||
[[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
|
||||
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>>
|
||||
create_publisher(
|
||||
const std::string & topic_name,
|
||||
size_t qos_history_depth,
|
||||
std::shared_ptr<Alloc> allocator);
|
||||
|
||||
/// Create and return a LifecyclePublisher.
|
||||
/**
|
||||
* \param[in] topic_name The topic for this publisher to publish on.
|
||||
* \param[in] qos_profile The QoS settings for this publisher.
|
||||
* \param[in] allocator allocator to use during publishing activities.
|
||||
* \return Shared pointer to the created publisher.
|
||||
*/
|
||||
template<typename MessageT, typename Alloc = std::allocator<void>>
|
||||
// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
|
||||
[[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
|
||||
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>>
|
||||
create_publisher(
|
||||
const std::string & topic_name,
|
||||
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
|
||||
std::shared_ptr<Alloc> allocator = nullptr);
|
||||
|
||||
/// Create and return a Subscription.
|
||||
/**
|
||||
* \param[in] topic_name The topic to subscribe on.
|
||||
|
|
@ -232,77 +200,6 @@ public:
|
|||
>::SharedPtr
|
||||
msg_mem_strat = nullptr);
|
||||
|
||||
/// Create and return a Subscription.
|
||||
/**
|
||||
* \param[in] topic_name The topic to subscribe on.
|
||||
* \param[in] callback The user-defined callback function.
|
||||
* \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
|
||||
* \param[in] group The callback group for this subscription. NULL for no callback group.
|
||||
* \param[in] ignore_local_publications True to ignore local publications.
|
||||
* \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
|
||||
* \return Shared pointer to the created subscription.
|
||||
*/
|
||||
/* TODO(jacquelinekay):
|
||||
Windows build breaks when static member function passed as default
|
||||
argument to msg_mem_strat, nullptr is a workaround.
|
||||
*/
|
||||
template<
|
||||
typename MessageT,
|
||||
typename CallbackT,
|
||||
typename Alloc = std::allocator<void>,
|
||||
typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
|
||||
// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
|
||||
[[deprecated(
|
||||
"use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
|
||||
)]]
|
||||
std::shared_ptr<SubscriptionT>
|
||||
create_subscription(
|
||||
const std::string & topic_name,
|
||||
CallbackT && callback,
|
||||
const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
|
||||
rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
|
||||
bool ignore_local_publications = false,
|
||||
typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
|
||||
typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
|
||||
msg_mem_strat = nullptr,
|
||||
std::shared_ptr<Alloc> allocator = nullptr);
|
||||
|
||||
/// Create and return a Subscription.
|
||||
/**
|
||||
* \param[in] topic_name The topic to subscribe on.
|
||||
* \param[in] qos_history_depth The depth of the subscription's incoming message queue.
|
||||
* \param[in] callback The user-defined callback function.
|
||||
* \param[in] group The callback group for this subscription. NULL for no callback group.
|
||||
* \param[in] ignore_local_publications True to ignore local publications.
|
||||
* \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
|
||||
* \param[in] allocator allocator to be used during handling of subscription callbacks.
|
||||
* \return Shared pointer to the created subscription.
|
||||
*/
|
||||
/* TODO(jacquelinekay):
|
||||
Windows build breaks when static member function passed as default
|
||||
argument to msg_mem_strat, nullptr is a workaround.
|
||||
*/
|
||||
template<
|
||||
typename MessageT,
|
||||
typename CallbackT,
|
||||
typename Alloc = std::allocator<void>,
|
||||
typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
|
||||
// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
|
||||
[[deprecated(
|
||||
"use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
|
||||
)]]
|
||||
std::shared_ptr<SubscriptionT>
|
||||
create_subscription(
|
||||
const std::string & topic_name,
|
||||
size_t qos_history_depth,
|
||||
CallbackT && callback,
|
||||
rclcpp::callback_group::CallbackGroup::SharedPtr group,
|
||||
bool ignore_local_publications = false,
|
||||
typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
|
||||
typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
|
||||
msg_mem_strat = nullptr,
|
||||
std::shared_ptr<Alloc> allocator = nullptr);
|
||||
|
||||
/// Create a timer.
|
||||
/**
|
||||
* \param[in] period Time interval between triggers of the callback.
|
||||
|
|
@ -420,30 +317,6 @@ public:
|
|||
rcl_interfaces::msg::SetParametersResult
|
||||
set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
|
||||
|
||||
/// Set one parameter, unless that parameter has already been set.
|
||||
/**
|
||||
* \sa rclcpp::Node::set_parameter_if_not_set
|
||||
*/
|
||||
template<typename ParameterT>
|
||||
// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
|
||||
[[deprecated("use declare_parameter() instead")]]
|
||||
void
|
||||
set_parameter_if_not_set(
|
||||
const std::string & name,
|
||||
const ParameterT & value);
|
||||
|
||||
/// Set a map of parameters with the same prefix.
|
||||
/**
|
||||
* \sa rclcpp::Node::set_parameters_if_not_set
|
||||
*/
|
||||
template<typename MapValueT>
|
||||
// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
|
||||
[[deprecated("use declare_parameters() instead")]]
|
||||
void
|
||||
set_parameters_if_not_set(
|
||||
const std::string & name,
|
||||
const std::map<std::string, MapValueT> & values);
|
||||
|
||||
/// Return the parameter by the given name.
|
||||
/**
|
||||
* \sa rclcpp::Node::get_parameter
|
||||
|
|
@ -499,19 +372,6 @@ public:
|
|||
const std::string & prefix,
|
||||
std::map<std::string, MapValueT> & values) const;
|
||||
|
||||
/// Get the parameter value; if not set, set the "alternative value" and store it in the node.
|
||||
/**
|
||||
* \sa rclcpp::Node::get_parameter_or_set
|
||||
*/
|
||||
template<typename ParameterT>
|
||||
// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
|
||||
[[deprecated("use declare_parameter() and its return value instead")]]
|
||||
void
|
||||
get_parameter_or_set(
|
||||
const std::string & name,
|
||||
ParameterT & value,
|
||||
const ParameterT & alternative_value);
|
||||
|
||||
/// Return the parameter descriptor for the given parameter name.
|
||||
/**
|
||||
* \sa rclcpp::Node::describe_parameter
|
||||
|
|
@ -556,16 +416,6 @@ public:
|
|||
set_on_parameters_set_callback(
|
||||
rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback);
|
||||
|
||||
/// Register the callback for parameter changes
|
||||
/**
|
||||
* \sa rclcpp::Node::register_param_change_callback
|
||||
*/
|
||||
template<typename CallbackT>
|
||||
// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
|
||||
[[deprecated("use set_on_parameters_set_callback() instead")]]
|
||||
void
|
||||
register_param_change_callback(CallbackT && callback);
|
||||
|
||||
RCLCPP_LIFECYCLE_PUBLIC
|
||||
std::vector<std::string>
|
||||
get_node_names() const;
|
||||
|
|
|
|||
|
|
@ -54,40 +54,6 @@ LifecycleNode::create_publisher(
|
|||
options);
|
||||
}
|
||||
|
||||
template<typename MessageT, typename Alloc>
|
||||
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>>
|
||||
LifecycleNode::create_publisher(
|
||||
const std::string & topic_name,
|
||||
size_t qos_history_depth,
|
||||
std::shared_ptr<Alloc> allocator)
|
||||
{
|
||||
rclcpp::PublisherOptionsWithAllocator<Alloc> options;
|
||||
options.allocator = allocator;
|
||||
return this->create_publisher<MessageT, Alloc>(
|
||||
topic_name,
|
||||
rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)),
|
||||
options);
|
||||
}
|
||||
|
||||
template<typename MessageT, typename Alloc>
|
||||
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>>
|
||||
LifecycleNode::create_publisher(
|
||||
const std::string & topic_name,
|
||||
const rmw_qos_profile_t & qos_profile,
|
||||
std::shared_ptr<Alloc> allocator)
|
||||
{
|
||||
rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
|
||||
qos.get_rmw_qos_profile() = qos_profile;
|
||||
|
||||
rclcpp::PublisherOptionsWithAllocator<Alloc> pub_options;
|
||||
pub_options.allocator = allocator;
|
||||
|
||||
return this->create_publisher<MessageT, Alloc>(
|
||||
topic_name,
|
||||
qos,
|
||||
pub_options);
|
||||
}
|
||||
|
||||
// TODO(karsten1987): Create LifecycleSubscriber
|
||||
template<
|
||||
typename MessageT,
|
||||
|
|
@ -113,65 +79,6 @@ LifecycleNode::create_subscription(
|
|||
msg_mem_strat);
|
||||
}
|
||||
|
||||
template<
|
||||
typename MessageT,
|
||||
typename CallbackT,
|
||||
typename Alloc,
|
||||
typename SubscriptionT>
|
||||
std::shared_ptr<SubscriptionT>
|
||||
LifecycleNode::create_subscription(
|
||||
const std::string & topic_name,
|
||||
CallbackT && callback,
|
||||
const rmw_qos_profile_t & qos_profile,
|
||||
rclcpp::callback_group::CallbackGroup::SharedPtr group,
|
||||
bool ignore_local_publications,
|
||||
typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
|
||||
typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
|
||||
msg_mem_strat,
|
||||
std::shared_ptr<Alloc> allocator)
|
||||
{
|
||||
rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
|
||||
qos.get_rmw_qos_profile() = qos_profile;
|
||||
|
||||
rclcpp::SubscriptionOptionsWithAllocator<Alloc> sub_options;
|
||||
sub_options.callback_group = group;
|
||||
sub_options.ignore_local_publications = ignore_local_publications;
|
||||
sub_options.allocator = allocator;
|
||||
|
||||
return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
|
||||
topic_name, std::forward<CallbackT>(callback), qos, sub_options, msg_mem_strat);
|
||||
}
|
||||
|
||||
template<
|
||||
typename MessageT,
|
||||
typename CallbackT,
|
||||
typename Alloc,
|
||||
typename SubscriptionT>
|
||||
std::shared_ptr<SubscriptionT>
|
||||
LifecycleNode::create_subscription(
|
||||
const std::string & topic_name,
|
||||
size_t qos_history_depth,
|
||||
CallbackT && callback,
|
||||
rclcpp::callback_group::CallbackGroup::SharedPtr group,
|
||||
bool ignore_local_publications,
|
||||
typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
|
||||
typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
|
||||
msg_mem_strat,
|
||||
std::shared_ptr<Alloc> allocator)
|
||||
{
|
||||
rclcpp::SubscriptionOptionsWithAllocator<Alloc> sub_options;
|
||||
sub_options.callback_group = group;
|
||||
sub_options.ignore_local_publications = ignore_local_publications;
|
||||
sub_options.allocator = allocator;
|
||||
|
||||
return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
|
||||
topic_name,
|
||||
std::forward<CallbackT>(callback),
|
||||
rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)),
|
||||
sub_options,
|
||||
msg_mem_strat);
|
||||
}
|
||||
|
||||
template<typename DurationRepT, typename DurationT, typename CallbackT>
|
||||
typename rclcpp::WallTimer<CallbackT>::SharedPtr
|
||||
LifecycleNode::create_wall_timer(
|
||||
|
|
@ -290,47 +197,6 @@ LifecycleNode::get_parameter(const std::string & name, ParameterT & parameter) c
|
|||
return result;
|
||||
}
|
||||
|
||||
template<typename CallbackT>
|
||||
void
|
||||
LifecycleNode::register_param_change_callback(CallbackT && callback)
|
||||
{
|
||||
this->node_parameters_->set_on_parameters_set_callback(std::forward<CallbackT>(callback));
|
||||
}
|
||||
|
||||
template<typename ParameterT>
|
||||
void
|
||||
LifecycleNode::set_parameter_if_not_set(
|
||||
const std::string & name,
|
||||
const ParameterT & value)
|
||||
{
|
||||
rclcpp::Parameter parameter;
|
||||
if (!this->get_parameter(name, parameter)) {
|
||||
this->set_parameters({rclcpp::Parameter(name, value), });
|
||||
}
|
||||
}
|
||||
|
||||
// this is a partially-specialized version of set_parameter_if_not_set above,
|
||||
// where our concrete type for ParameterT is std::map, but the to-be-determined
|
||||
// type is the value in the map.
|
||||
template<typename MapValueT>
|
||||
void
|
||||
LifecycleNode::set_parameters_if_not_set(
|
||||
const std::string & name,
|
||||
const std::map<std::string, MapValueT> & values)
|
||||
{
|
||||
std::vector<rclcpp::Parameter> params;
|
||||
|
||||
for (const auto & val : values) {
|
||||
std::string param_name = name + "." + val.first;
|
||||
rclcpp::Parameter parameter;
|
||||
if (!this->get_parameter(param_name, parameter)) {
|
||||
params.push_back(rclcpp::Parameter(param_name, val.second));
|
||||
}
|
||||
}
|
||||
|
||||
this->set_parameters(params);
|
||||
}
|
||||
|
||||
// this is a partially-specialized version of get_parameter above,
|
||||
// where our concrete type for ParameterT is std::map, but the to-be-determined
|
||||
// type is the value in the map.
|
||||
|
|
@ -365,19 +231,5 @@ LifecycleNode::get_parameter_or(
|
|||
return got_parameter;
|
||||
}
|
||||
|
||||
template<typename ParameterT>
|
||||
void
|
||||
LifecycleNode::get_parameter_or_set(
|
||||
const std::string & name,
|
||||
ParameterT & value,
|
||||
const ParameterT & alternative_value)
|
||||
{
|
||||
bool got_parameter = get_parameter(name, value);
|
||||
if (!got_parameter) {
|
||||
this->set_parameters({rclcpp::Parameter(name, alternative_value), });
|
||||
value = alternative_value;
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace rclcpp_lifecycle
|
||||
#endif // RCLCPP_LIFECYCLE__LIFECYCLE_NODE_IMPL_HPP_
|
||||
|
|
|
|||
|
|
@ -113,53 +113,6 @@ public:
|
|||
rclcpp::Publisher<MessageT, Alloc>::publish(msg);
|
||||
}
|
||||
|
||||
/// LifecyclePublisher publish function
|
||||
/**
|
||||
* The publish function checks whether the communication
|
||||
* was enabled or disabled and forwards the message
|
||||
* to the actual rclcpp Publisher base class
|
||||
*/
|
||||
// Skip deprecated attribute in windows, as it raise a warning in template specialization.
|
||||
#if !defined(_WIN32)
|
||||
// Avoid raising a deprecated warning in template specialization in linux.
|
||||
# pragma GCC diagnostic push
|
||||
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
|
||||
[[deprecated(
|
||||
"publishing an unique_ptr is prefered when using intra process communication."
|
||||
" If using a shared_ptr, use publish(*msg).")]]
|
||||
#endif
|
||||
virtual void
|
||||
publish(const std::shared_ptr<const MessageT> & msg)
|
||||
{
|
||||
if (!enabled_) {
|
||||
RCLCPP_WARN(
|
||||
logger_,
|
||||
"Trying to publish message on the topic '%s', but the publisher is not activated",
|
||||
this->get_topic_name());
|
||||
|
||||
return;
|
||||
}
|
||||
rclcpp::Publisher<MessageT, Alloc>::publish(*msg);
|
||||
}
|
||||
|
||||
// Skip deprecated attribute in windows, as it raise a warning in template specialization.
|
||||
#if !defined(_WIN32)
|
||||
[[deprecated(
|
||||
"Use publish(*msg). Check against nullptr before calling if necessary.")]]
|
||||
#endif
|
||||
virtual void
|
||||
publish(const MessageT * msg)
|
||||
{
|
||||
if (!msg) {
|
||||
throw std::runtime_error("msg argument is nullptr");
|
||||
}
|
||||
this->publish(*msg);
|
||||
}
|
||||
|
||||
#if !defined(_WIN32)
|
||||
# pragma GCC diagnostic pop
|
||||
#endif
|
||||
|
||||
virtual void
|
||||
on_activate()
|
||||
{
|
||||
|
|
|
|||
|
|
@ -31,17 +31,7 @@
|
|||
#include "rclcpp/node_interfaces/node_clock.hpp"
|
||||
#include "rclcpp/node_interfaces/node_graph.hpp"
|
||||
#include "rclcpp/node_interfaces/node_logging.hpp"
|
||||
// When compiling this file, Windows produces a deprecation warning for the
|
||||
// deprecated function prototype of NodeParameters::register_param_change_callback().
|
||||
// Other compilers do not.
|
||||
#if defined(_WIN32)
|
||||
# pragma warning(push)
|
||||
# pragma warning(disable: 4996)
|
||||
#endif
|
||||
#include "rclcpp/node_interfaces/node_parameters.hpp"
|
||||
#if defined(_WIN32)
|
||||
# pragma warning(pop)
|
||||
#endif
|
||||
#include "rclcpp/node_interfaces/node_services.hpp"
|
||||
#include "rclcpp/node_interfaces/node_time_source.hpp"
|
||||
#include "rclcpp/node_interfaces/node_timers.hpp"
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue