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Integrate topic statistics (#1072)

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* Add SubscriberTopicStatistics class

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Add SubscriberTopicStatistics Test

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Address review comments

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Modify constructor to allow a node to create necessary components

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Fix docstring style

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Remove SetPublisherTimer method

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Change naming style to match rclcpp

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Address style issues

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Use rclcpp:Time

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Address review comments

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Remove unnecessary check for null publisher timer
Move anonymous namespace function to private class method

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Update message dependency

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Initial integration of Subscriber Topic Statistics

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Fix nanoseconds used for Topic Stats

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Add simple publishing test
Minor fixes

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Add test utils header

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Integrate with Topic Statistics options
Fixes after rebasing with master

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Update after rebasing

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Address minor review comments

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Move Topic Statistics instantiation to create_subscription

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Fix rebase issue
Fix topic statistics enable flag usage
Address minor formatting

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Move new timer creation method to relevant header

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Add timers interface to topic interface

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Use new create timer method

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>

* Address review comments

Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
This commit is contained in:
Devin Bonnie 2020-04-22 16:09:41 -07:00 • committed by GitHub
parent 4eab2a3c60
commit bb91b6c2ef
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13 changed files with 419 additions and 27 deletions
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2
rclcpp_lifecycle/src/lifecycle_node.cpp
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@ -67,7 +67,7 @@ LifecycleNode::LifecycleNode(
node_graph_(new rclcpp::node_interfaces::NodeGraph(node_base_.get())),
node_logging_(new rclcpp::node_interfaces::NodeLogging(node_base_.get())),
node_timers_(new rclcpp::node_interfaces::NodeTimers(node_base_.get())),
node_topics_(new rclcpp::node_interfaces::NodeTopics(node_base_.get())),
node_topics_(new rclcpp::node_interfaces::NodeTopics(node_base_.get(), node_timers_.get())),
node_services_(new rclcpp::node_interfaces::NodeServices(node_base_.get())),
node_clock_(new rclcpp::node_interfaces::NodeClock(
node_base_,