niklas/rclcpp
1
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

change API to encourage users to specify history depth always (#713)

Browse source 
* improve interoperability with rclcpp::Duration and std::chrono

Signed-off-by: William Woodall <william@osrfoundation.org>

* add to_rmw_time to Duration

Signed-off-by: William Woodall <william@osrfoundation.org>

* add new QoS class to rclcpp

Signed-off-by: William Woodall <william@osrfoundation.org>

* changes to NodeBase, NodeTopics, etc in preparation for changes to pub/sub

Signed-off-by: William Woodall <william@osrfoundation.org>

* refactor publisher creation to use new QoS class

Signed-off-by: William Woodall <william@osrfoundation.org>

* refactor subscription creation to use new QoS class

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixing fallout from changes to pub/sub creation

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixed Windows error: no appropriate default constructor available

why? who knows

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixed Windows error: could not deduce template argument for 'PublisherT'

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix missing vftable linker error on Windows

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix more cases of no suitable default constructor errors...

Signed-off-by: William Woodall <william@osrfoundation.org>

* prevent msvc from trying to interpret some cases as functions

Signed-off-by: William Woodall <william@osrfoundation.org>

* uncrustify

Signed-off-by: William Woodall <william@osrfoundation.org>

* cpplint

Signed-off-by: William Woodall <william@osrfoundation.org>

* add C++ version of default action qos

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixing lifecycle subscription signatures

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix allocators (we actually use this already in the pub/sub factory)

Signed-off-by: William Woodall <william@osrfoundation.org>

* suppress cppcheck on false positive syntax error

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix more cppcheck syntax error false positives

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix case where sub-type of QoS is used

Signed-off-by: William Woodall <william@osrfoundation.org>

* fixup get_node_topics_interface.hpp according to reviews and tests

Signed-off-by: William Woodall <william@osrfoundation.org>

* additional fixes based on local testing and CI

Signed-off-by: William Woodall <william@osrfoundation.org>

* another trick to avoid 'no appropriate default constructor available'

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix compiler error with clang on macOS

Signed-off-by: William Woodall <william@osrfoundation.org>

* disable build failure tests until we can get Jenkins to ignore their output

Signed-off-by: William Woodall <william@osrfoundation.org>

* suppress more cppcheck false positives

Signed-off-by: William Woodall <william@osrfoundation.org>

* add missing visibility macros to default QoS profile classes

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix another case of 'no appropriate default constructor available'

Signed-off-by: William Woodall <william@osrfoundation.org>

* unfortunately this actaully fixes a build error on Windows...

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix typos

Signed-off-by: William Woodall <william@osrfoundation.org>
This commit is contained in:
William Woodall 2019-05-08 14:24:40 -07:00 • committed by GitHub
parent 385cccc2cc
commit c769b1b030
No known key found for this signature in database
GPG key ID: 4AEE18F83AFDEB23
53 changed files with 1908 additions and 454 deletions
Download patch file Download diff file Expand all files Collapse all files

101
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp
View file

@ -49,8 +49,11 @@
#include "rclcpp/node_interfaces/node_waitables_interface.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/publisher.hpp"
#include "rclcpp/publisher_options.hpp"
#include "rclcpp/qos.hpp"
#include "rclcpp/service.hpp"
#include "rclcpp/subscription.hpp"
#include "rclcpp/subscription_options.hpp"
#include "rclcpp/time.hpp"
#include "rclcpp/timer.hpp"
@ -63,6 +66,29 @@
namespace rclcpp_lifecycle
{
// include these here to work around an esoteric Windows error where the namespace
// cannot be used in the function declaration below without getting an error like:
// 'rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>':
// no appropriate default constructor available
template<typename AllocatorT>
using PublisherOptionsWithAllocator = rclcpp::PublisherOptionsWithAllocator<AllocatorT>;
template<typename AllocatorT>
using SubscriptionOptionsWithAllocator = rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>;
template<typename AllocatorT>
PublisherOptionsWithAllocator<AllocatorT>
create_default_publisher_options()
{
return rclcpp::PublisherOptionsWithAllocator<AllocatorT>();
}
template<typename AllocatorT>
SubscriptionOptionsWithAllocator<AllocatorT>
create_default_subscription_options()
{
return rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>();
}
/// LifecycleNode for creating lifecycle components
/**
* has lifecycle nodeinterface for configuring this node.
@ -128,6 +154,22 @@ public:
const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
get_callback_groups() const;
/// Create and return a Publisher.
/**
* \param[in] topic_name The topic for this publisher to publish on.
* \param[in] qos The Quality of Service settings for this publisher.
* \param[in] options The publisher options for this publisher.
* \return Shared pointer to the created lifecycle publisher.
*/
template<typename MessageT, typename AllocatorT = std::allocator<void>>
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, AllocatorT>>
create_publisher(
const std::string & topic_name,
const rclcpp::QoS & qos,
const PublisherOptionsWithAllocator<AllocatorT> & options =
create_default_publisher_options<AllocatorT>()
);
/// Create and return a Publisher.
/**
* \param[in] topic_name The topic for this publisher to publish on.
@ -136,10 +178,13 @@ public:
* \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 = nullptr);
const std::string & topic_name,
size_t qos_history_depth,
std::shared_ptr<Alloc> allocator);
/// Create and return a LifecyclePublisher.
/**
@ -149,12 +194,44 @@ public:
* \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.
* \param[in] callback The user-defined callback function.
* \param[in] qos The quality of service for this subscription.
* \param[in] options The subscription options for this subscription.
* \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 AllocatorT = std::allocator<void>,
typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>>
std::shared_ptr<SubscriptionT>
create_subscription(
const std::string & topic_name,
const rclcpp::QoS & qos,
CallbackT && callback,
const SubscriptionOptionsWithAllocator<AllocatorT> & options =
create_default_subscription_options<AllocatorT>(),
typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT
>::SharedPtr
msg_mem_strat = nullptr);
/// Create and return a Subscription.
/**
* \param[in] topic_name The topic to subscribe on.
@ -174,6 +251,10 @@ public:
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,
@ -206,14 +287,19 @@ public:
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 = nullptr,
rclcpp::callback_group::CallbackGroup::SharedPtr group,
bool ignore_local_publications = false,
typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
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);
@ -457,6 +543,11 @@ public:
rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
get_node_waitables_interface();
/// Return the NodeOptions used when creating this node.
RCLCPP_LIFECYCLE_PUBLIC
const rclcpp::NodeOptions &
get_node_options() const;
//
// LIFECYCLE COMPONENTS
//
@ -585,7 +676,7 @@ private:
rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
bool use_intra_process_comms_;
const rclcpp::NodeOptions node_options_;
class LifecycleNodeInterfaceImpl;
std::unique_ptr<LifecycleNodeInterfaceImpl> impl_;

126
rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp
View file

@ -39,18 +39,34 @@
namespace rclcpp_lifecycle
{
template<typename MessageT, typename AllocatorT>
std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, AllocatorT>>
LifecycleNode::create_publisher(
const std::string & topic_name,
const rclcpp::QoS & qos,
const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
{
using PublisherT = rclcpp_lifecycle::LifecyclePublisher<MessageT, AllocatorT>;
return rclcpp::create_publisher<MessageT, AllocatorT, PublisherT>(
*this,
topic_name,
qos,
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,
const std::string & topic_name,
size_t qos_history_depth,
std::shared_ptr<Alloc> allocator)
{
if (!allocator) {
allocator = std::make_shared<Alloc>();
}
rmw_qos_profile_t qos = rmw_qos_profile_default;
qos.depth = qos_history_depth;
return this->create_publisher<MessageT, Alloc>(topic_name, qos, 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>
@ -60,21 +76,48 @@ LifecycleNode::create_publisher(
const rmw_qos_profile_t & qos_profile,
std::shared_ptr<Alloc> allocator)
{
using PublisherT = rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>;
rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
qos.get_rmw_qos_profile() = qos_profile;
// create regular publisher in rclcpp::Node
return rclcpp::create_publisher<MessageT, Alloc, PublisherT>(
this->node_topics_.get(),
rclcpp::PublisherOptionsWithAllocator<Alloc> pub_options;
pub_options.allocator = allocator;
return this->create_publisher<MessageT, Alloc>(
topic_name,
qos_profile,
rclcpp::PublisherEventCallbacks(),
nullptr,
use_intra_process_comms_,
allocator);
qos,
pub_options);
}
// TODO(karsten1987): Create LifecycleSubscriber
template<typename MessageT, typename CallbackT, typename Alloc, typename SubscriptionT>
template<
typename MessageT,
typename CallbackT,
typename AllocatorT,
typename SubscriptionT>
std::shared_ptr<SubscriptionT>
LifecycleNode::create_subscription(
const std::string & topic_name,
const rclcpp::QoS & qos,
CallbackT && callback,
const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT>::SharedPtr
msg_mem_strat)
{
return rclcpp::create_subscription<MessageT>(
*this,
topic_name,
qos,
std::forward<CallbackT>(callback),
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,
@ -87,28 +130,16 @@ LifecycleNode::create_subscription(
msg_mem_strat,
std::shared_ptr<Alloc> allocator)
{
using CallbackMessageT = typename rclcpp::subscription_traits::has_message_type<CallbackT>::type;
rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
qos.get_rmw_qos_profile() = qos_profile;
if (!allocator) {
allocator = std::make_shared<Alloc>();
}
rclcpp::SubscriptionOptionsWithAllocator<Alloc> sub_options;
sub_options.callback_group = group;
sub_options.ignore_local_publications = ignore_local_publications;
sub_options.allocator = allocator;
if (!msg_mem_strat) {
using rclcpp::message_memory_strategy::MessageMemoryStrategy;
msg_mem_strat = MessageMemoryStrategy<CallbackMessageT, Alloc>::create_default();
}
return rclcpp::create_subscription<MessageT, CallbackT, Alloc, CallbackMessageT, SubscriptionT>(
this->node_topics_.get(),
topic_name,
std::forward<CallbackT>(callback),
qos_profile,
rclcpp::SubscriptionEventCallbacks(),
group,
ignore_local_publications,
use_intra_process_comms_,
msg_mem_strat,
allocator);
return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
topic_name, std::forward<CallbackT>(callback), qos, sub_options, msg_mem_strat);
}
template<
@ -123,21 +154,22 @@ LifecycleNode::create_subscription(
CallbackT && callback,
rclcpp::callback_group::CallbackGroup::SharedPtr group,
bool ignore_local_publications,
typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
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)
{
rmw_qos_profile_t qos = rmw_qos_profile_default;
qos.depth = qos_history_depth;
return this->create_subscription<MessageT, CallbackT, Alloc>(
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,
rclcpp::SubscriptionEventCallbacks(),
group,
ignore_local_publications,
msg_mem_strat,
allocator);
rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)),
sub_options,
msg_mem_strat);
}
template<typename DurationRepT, typename DurationT, typename CallbackT>

17
rclcpp_lifecycle/src/lifecycle_node.cpp
View file

@ -68,7 +68,11 @@ LifecycleNode::LifecycleNode(
const std::string & namespace_,
const rclcpp::NodeOptions & options)
: node_base_(new rclcpp::node_interfaces::NodeBase(
node_name, namespace_, options)),
node_name,
namespace_,
options.context(),
*(options.get_rcl_node_options()),
options.use_intra_process_comms())),
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())),
@ -88,10 +92,10 @@ LifecycleNode::LifecycleNode(
node_services_,
node_clock_,
options.initial_parameters(),
options.use_intra_process_comms(),
options.start_parameter_services(),
options.start_parameter_event_publisher(),
options.parameter_event_qos_profile(),
options.parameter_event_qos(),
options.parameter_event_publisher_options(),
options.allow_undeclared_parameters(),
options.automatically_declare_initial_parameters()
)),
@ -105,7 +109,7 @@ LifecycleNode::LifecycleNode(
node_parameters_
)),
node_waitables_(new rclcpp::node_interfaces::NodeWaitables(node_base_.get())),
use_intra_process_comms_(options.use_intra_process_comms()),
node_options_(options),
impl_(new LifecycleNodeInterfaceImpl(node_base_, node_services_))
{
impl_->init();
@ -333,6 +337,11 @@ LifecycleNode::get_node_waitables_interface()
return node_waitables_;
}
const rclcpp::NodeOptions &
LifecycleNode::get_node_options() const
{
return node_options_;
}
////
bool

3
rclcpp_lifecycle/test/test_lifecycle_node.cpp
View file

@ -217,7 +217,8 @@ TEST_F(TestDefaultStateMachine, lifecycle_subscriber) {
auto test_node = std::make_shared<MoodyLifecycleNode<GoodMood>>("testnode");
auto cb = [](const std::shared_ptr<lifecycle_msgs::msg::State> msg) {(void) msg;};
auto lifecycle_sub = test_node->create_subscription<lifecycle_msgs::msg::State>("~/empty", cb);
auto lifecycle_sub =
test_node->create_subscription<lifecycle_msgs::msg::State>("~/empty", 10, cb);
SUCCEED();
}