* Add -Wnon-virtual-dtor -Woverloaded-virtual compiler options
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
* Add missing virtual dtors
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
* please linter
Signed-off-by: Ivan Santiago Paunovic <ivanpauno@ekumenlabs.com>
* [rclcpp_action] Action client holds weak pointers to goal handles
Fixes#861
It is against the design of ROS actions to rely on the status topic for the core implementation,
instead it should just be used for introspection.
Rather than relying on the status topic to remove references to goal handles, the action client
instead holds weak pointers to the goal handles. This way as long as a user holds a reference to
the goal handle they can use it to interact with the action client.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Move cleanup logic to the end of the function
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Add TODO
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Log debug messages when dropping a weak references to goal handles
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Improve documentation
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Fixes https://github.com/ros2/rclcpp/issues/955
There are currently two public APIs for users to get the result of a goal.
This change deprecates one of the APIs, which was considered to be unsafe as
it may result in a race with user-code and raise an exception.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* deprecate redundant namespaces, move classes to own files, rename some classes
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixup
Signed-off-by: William Woodall <william@osrfoundation.org>
* address review comments
Signed-off-by: William Woodall <william@osrfoundation.org>
* fix ups since rebase
Signed-off-by: William Woodall <william@osrfoundation.org>
* avoid deprecation warnings from deprecated functions
Signed-off-by: William Woodall <william@osrfoundation.org>
* more fixes
Signed-off-by: William Woodall <william@osrfoundation.org>
* another fixup, after another rebase
Signed-off-by: William Woodall <william@osrfoundation.org>
It was complaining about an unknown macro RCLCPP_SMART_PTR_DEFINITIONS.
Passing rclcpp include directories to cppcheck resolves the errors
reported in rclcpp_action and rclcpp_lifecycle.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
Whenever a call is made to `rclcpp_action::Client::wait_for_action_server`
a weak pointer to an Event object gets added to the graph_event_ vector
of the NodeGraph interface. This vector will be cleared on a node graph
change event, but if no such event occurs the weak pointer will be stuck
in the vector. Furthermore, if client code issues repeated calls to
`wait_for_action_server` the vector will keep growing.
The fix moves the Event object creation right after the early return from
`wait_for_action_server` so that the Event object is not created in the
case that the server is known to be present and therefore there is no
need to wait for a node graph change event to occur.
Signed-off-by: Adrian Stere <astere@clearpath.ai>
As documented in rcl_action, a return code of RCL_RET_ACTION_CLIENT_TAKE_FAILED does not mean that
an error occurred.
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
This fixes a runtime error caused by a race condition when making consecutive requests for the
result.
Specifically, this happens if the user provides a result callback when sending a goal and then
calls async_get_result shortly after.
Resolves#783
Signed-off-by: Jacob Perron <jacob@openrobotics.org>
* Add line break after first open paren in multiline function call
as per developer guide:
https://index.ros.org/doc/ros2/Contributing/Developer-Guide/#open-versus-cuddled-braces
see https://github.com/ament/ament_lint/pull/148
Signed-off-by: Dan Rose <dan@digilabs.io>
Fix dedent when first function argument starts with a brace
Signed-off-by: Dan Rose <dan@digilabs.io>
Line break with multiline if condition
Remove line breaks where allowed.
Signed-off-by: Dan Rose <dan@digilabs.io>
Fixup after rebase
Signed-off-by: Dan Rose <dan@digilabs.io>
Fixup again after reverting indent_paren_open_brace
Signed-off-by: Dan Rose <dan@digilabs.io>
* Revert comment spacing change, condense some lines
Signed-off-by: Dan Rose <dan@digilabs.io>
