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
|
|
@ -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_;
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue