change API to encourage users to specify history depth always (#713)
* 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
GitHub
parent
385cccc2cc
commit
c769b1b030
53 changed files with 1908 additions and 454 deletions
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@ -49,8 +49,11 @@
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#include "rclcpp/node_interfaces/node_waitables_interface.hpp"
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#include "rclcpp/parameter.hpp"
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#include "rclcpp/publisher.hpp"
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#include "rclcpp/publisher_options.hpp"
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#include "rclcpp/qos.hpp"
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#include "rclcpp/service.hpp"
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#include "rclcpp/subscription.hpp"
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#include "rclcpp/subscription_options.hpp"
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#include "rclcpp/time.hpp"
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#include "rclcpp/timer.hpp"
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@ -63,6 +66,29 @@
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namespace rclcpp_lifecycle
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{
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// include these here to work around an esoteric Windows error where the namespace
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// cannot be used in the function declaration below without getting an error like:
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// 'rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>':
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// no appropriate default constructor available
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template<typename AllocatorT>
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using PublisherOptionsWithAllocator = rclcpp::PublisherOptionsWithAllocator<AllocatorT>;
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template<typename AllocatorT>
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using SubscriptionOptionsWithAllocator = rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>;
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template<typename AllocatorT>
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PublisherOptionsWithAllocator<AllocatorT>
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create_default_publisher_options()
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{
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return rclcpp::PublisherOptionsWithAllocator<AllocatorT>();
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}
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template<typename AllocatorT>
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SubscriptionOptionsWithAllocator<AllocatorT>
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create_default_subscription_options()
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{
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return rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>();
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}
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/// LifecycleNode for creating lifecycle components
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/**
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* has lifecycle nodeinterface for configuring this node.
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@ -128,6 +154,22 @@ public:
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const std::vector<rclcpp::callback_group::CallbackGroup::WeakPtr> &
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get_callback_groups() const;
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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 The Quality of Service settings for this publisher.
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* \param[in] options The publisher options for this publisher.
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* \return Shared pointer to the created lifecycle publisher.
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*/
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template<typename MessageT, typename AllocatorT = std::allocator<void>>
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std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, AllocatorT>>
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create_publisher(
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const std::string & topic_name,
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const rclcpp::QoS & qos,
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const PublisherOptionsWithAllocator<AllocatorT> & options =
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create_default_publisher_options<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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@ -136,10 +178,13 @@ public:
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* \return Shared pointer to the created publisher.
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*/
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template<typename MessageT, typename Alloc = std::allocator<void>>
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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<rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>>
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create_publisher(
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const std::string & topic_name, size_t qos_history_depth,
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std::shared_ptr<Alloc> allocator = nullptr);
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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<Alloc> allocator);
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/// Create and return a LifecyclePublisher.
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/**
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@ -149,12 +194,44 @@ public:
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* \return Shared pointer to the created publisher.
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*/
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template<typename MessageT, typename Alloc = std::allocator<void>>
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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<rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>>
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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<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] callback The user-defined callback function.
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* \param[in] qos The quality of service for this subscription.
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* \param[in] options The subscription options for this subscription.
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* \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
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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 AllocatorT = std::allocator<void>,
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typename SubscriptionT = rclcpp::Subscription<MessageT, AllocatorT>>
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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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const rclcpp::QoS & qos,
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CallbackT && callback,
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const SubscriptionOptionsWithAllocator<AllocatorT> & options =
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create_default_subscription_options<AllocatorT>(),
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
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typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT
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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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@ -174,6 +251,10 @@ public:
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typename CallbackT,
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typename Alloc = std::allocator<void>,
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typename SubscriptionT = rclcpp::Subscription<MessageT, 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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typename CallbackT,
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typename Alloc = std::allocator<void>,
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typename SubscriptionT = rclcpp::Subscription<MessageT, 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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size_t qos_history_depth,
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CallbackT && callback,
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rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
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rclcpp::callback_group::CallbackGroup::SharedPtr group,
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bool ignore_local_publications = false,
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<MessageT, Alloc>::SharedPtr
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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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@ -457,6 +543,11 @@ public:
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rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr
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get_node_waitables_interface();
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/// Return the NodeOptions used when creating this node.
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RCLCPP_LIFECYCLE_PUBLIC
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const rclcpp::NodeOptions &
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get_node_options() const;
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//
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// LIFECYCLE COMPONENTS
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//
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@ -585,7 +676,7 @@ private:
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rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr node_time_source_;
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rclcpp::node_interfaces::NodeWaitablesInterface::SharedPtr node_waitables_;
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bool use_intra_process_comms_;
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const rclcpp::NodeOptions node_options_;
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class LifecycleNodeInterfaceImpl;
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std::unique_ptr<LifecycleNodeInterfaceImpl> impl_;
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@ -39,18 +39,34 @@
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namespace rclcpp_lifecycle
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{
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template<typename MessageT, typename AllocatorT>
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std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, AllocatorT>>
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LifecycleNode::create_publisher(
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const std::string & topic_name,
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const rclcpp::QoS & qos,
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const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options)
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{
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using PublisherT = rclcpp_lifecycle::LifecyclePublisher<MessageT, AllocatorT>;
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return rclcpp::create_publisher<MessageT, AllocatorT, PublisherT>(
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*this,
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topic_name,
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qos,
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options);
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}
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template<typename MessageT, typename Alloc>
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std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>>
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LifecycleNode::create_publisher(
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const std::string & topic_name, size_t qos_history_depth,
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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<Alloc> allocator)
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{
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if (!allocator) {
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allocator = std::make_shared<Alloc>();
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}
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rmw_qos_profile_t qos = rmw_qos_profile_default;
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qos.depth = qos_history_depth;
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return this->create_publisher<MessageT, Alloc>(topic_name, qos, allocator);
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rclcpp::PublisherOptionsWithAllocator<Alloc> options;
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options.allocator = allocator;
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return this->create_publisher<MessageT, Alloc>(
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topic_name,
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rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)),
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options);
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}
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template<typename MessageT, typename Alloc>
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const rmw_qos_profile_t & qos_profile,
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std::shared_ptr<Alloc> allocator)
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{
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using PublisherT = rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>;
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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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// create regular publisher in rclcpp::Node
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return rclcpp::create_publisher<MessageT, Alloc, PublisherT>(
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this->node_topics_.get(),
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rclcpp::PublisherOptionsWithAllocator<Alloc> pub_options;
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pub_options.allocator = allocator;
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return this->create_publisher<MessageT, Alloc>(
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topic_name,
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qos_profile,
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rclcpp::PublisherEventCallbacks(),
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nullptr,
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use_intra_process_comms_,
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allocator);
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qos,
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pub_options);
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}
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// TODO(karsten1987): Create LifecycleSubscriber
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template<typename MessageT, typename CallbackT, typename Alloc, typename SubscriptionT>
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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 SubscriptionT>
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std::shared_ptr<SubscriptionT>
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LifecycleNode::create_subscription(
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const std::string & topic_name,
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const rclcpp::QoS & qos,
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CallbackT && callback,
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const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options,
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typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
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typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, AllocatorT>::SharedPtr
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msg_mem_strat)
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{
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return rclcpp::create_subscription<MessageT>(
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*this,
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topic_name,
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qos,
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std::forward<CallbackT>(callback),
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options,
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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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LifecycleNode::create_subscription(
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const std::string & topic_name,
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@ -87,28 +130,16 @@ LifecycleNode::create_subscription(
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msg_mem_strat,
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std::shared_ptr<Alloc> allocator)
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{
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using CallbackMessageT = typename rclcpp::subscription_traits::has_message_type<CallbackT>::type;
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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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if (!allocator) {
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allocator = std::make_shared<Alloc>();
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}
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rclcpp::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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if (!msg_mem_strat) {
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using rclcpp::message_memory_strategy::MessageMemoryStrategy;
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msg_mem_strat = MessageMemoryStrategy<CallbackMessageT, Alloc>::create_default();
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}
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return rclcpp::create_subscription<MessageT, CallbackT, Alloc, CallbackMessageT, SubscriptionT>(
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this->node_topics_.get(),
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topic_name,
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std::forward<CallbackT>(callback),
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qos_profile,
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rclcpp::SubscriptionEventCallbacks(),
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group,
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ignore_local_publications,
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use_intra_process_comms_,
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msg_mem_strat,
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allocator);
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return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
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topic_name, std::forward<CallbackT>(callback), qos, sub_options, msg_mem_strat);
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}
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template<
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@ -123,21 +154,22 @@ LifecycleNode::create_subscription(
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CallbackT && callback,
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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<MessageT, Alloc>::SharedPtr
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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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rmw_qos_profile_t qos = rmw_qos_profile_default;
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qos.depth = qos_history_depth;
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return this->create_subscription<MessageT, CallbackT, Alloc>(
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rclcpp::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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std::forward<CallbackT>(callback),
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qos,
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rclcpp::SubscriptionEventCallbacks(),
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group,
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ignore_local_publications,
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msg_mem_strat,
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allocator);
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rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)),
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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>
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