* [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>
* API review part 1
Signed-off-by: William Woodall <william@osrfoundation.org>
* update pre second meeting
Signed-off-by: William Woodall <william@osrfoundation.org>
* notes from 2020-03-23 meeting
Signed-off-by: William Woodall <william@osrfoundation.org>
* online review comments
Signed-off-by: William Woodall <william@osrfoundation.org>
* Increasing test coverage of rclcpp_components
Signed-off-by: Stephen Brawner <brawner@gmail.com>
* PR fixup
Signed-off-by: Stephen Brawner <brawner@gmail.com>
* Fixup
Signed-off-by: Stephen Brawner <brawner@gmail.com>
* Removing throws test for now
Signed-off-by: Stephen Brawner <brawner@gmail.com>
* Add received message age metric to topic statistics
Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>
* Add unit tests
Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>
* Add IMU messages in unit test
Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>
* Use system time instead of steady time
Test received message age stats values are greater than 0
Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
* Fix test warnings
Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
* Replace IMU messages with new dummy messages
Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>
* Remove outdated TODO and unused test variables
Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>
* Address review comments
Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
* Address review comments
Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>
* Re-add message with header for unit testing
Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>
* Address message review feedback
Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
* Remove extra newline
Signed-off-by: Prajakta Gokhale <prajaktg@amazon.com>
* Address more review feedback
Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
* Fix Windows failure
Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
* Only set append_library_dirs once
Signed-off-by: Devin Bonnie <dbbonnie@amazon.com>
* 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>
* subscriber_statistics_collectors_ should be protected with mutex.
Co-Authored-By: William Woodall <william+github@osrfoundation.org>
Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>
* Addes SerializedMessage and helper class for serialization to rcl_serialized_message
@Karsten1987 Thank you for your support
Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
* Updateds subscription traits for SerializedMessage
@Karsten1987 Thank you for your support
Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
* Addes tests SerializedMessage and subscription traits
@Karsten1987 Thank you for your support
Signed-off-by: Joshua Hampp <j.hampp@denso-adas.de>
* Update rclcpp/include/rclcpp/serialization.hpp
Co-Authored-By: Karsten Knese <Karsten1987@users.noreply.github.com>
* Update rclcpp/test/test_serialized_message.cpp
Co-Authored-By: Karsten Knese <Karsten1987@users.noreply.github.com>
* fix windows compilation
Signed-off-by: Karsten Knese <karsten@openrobotics.org>
* cosmetic touchups
Signed-off-by: Karsten Knese <karsten@openrobotics.org>
Co-authored-by: Joshua Hampp <j.hampp@denso-adas.de>
Co-authored-by: Karsten Knese <Karsten1987@users.noreply.github.com>
Co-authored-by: Karsten Knese <karsten@openrobotics.org>
