* logging, remove_const before comparison
This change removes the const value from the logger before
comparing with std::is_same.
Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
* logging template, replace remove_const by remove_cv
Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
* Append typename
Located after compiling rclcpp_action from source
Signed-off-by: Víctor Mayoral Vilches <v.mayoralv@gmail.com>
* Options-based create_publisher and create_subscription interfaces
Introduce new Options structs for creating publishers and subscribers. Deprecate existing interfaces for checking in CI how often they are used.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Remove default params that resulted in ambiguous declarations.
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Remove one deprecation to limit upstream impact, add documentation on pub/sub options, slim down test lambdas character count
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Un-abbreviate Allocator in new interfaces/types, define a common Options specialization that doesn't need empty brackets
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Suppress cppcheck syntaxError for the one function
Signed-off-by: Emerson Knapp <eknapp@amazon.com>
* Introduce rclcpp_components package
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Keep pointer to NodeWrapper vs NodeInterface.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Remove component registration from rclcpp
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Make topics names private-prefix.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Handle name and namespace with remap rules.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Linting.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Address reviewer feedback.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Change to smart pointers for managing memory.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Update to use rcpputils filesystem/split.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Address reviewer feedback and add docs.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Add tests around ComponentManager.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Lint.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Address reviewer feedback and add overflow check.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Fix CI.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
The two distinct operations of acquiring and subsequent checking of a
timer have to be protected by one lock_guard against races with other
threads. The releasing of a timer has to be protected by the same lock.
Given this requirement there is no use for a second mutex.
Signed-off-by: Marko Durkovic <marko@ternaris.com>
* when call wait for service in an while loop, the event will be make forever and never release
* fix it by: creating it when we need
Signed-off-by: reed-lau <geoliuwei@gmail.com>
* Fix flakey test
Signed-off-by: Pete Baughman <pete.baughman@apex.ai>
* Fix lint and uncrustify issues
Signed-off-by: Pete Baughman <pete.baughman@apex.ai>
* Sub Node alternative
* Sub Node alternative
* Test // characters in namespaces
* Sub Node alternative
* Test // characters in namespaces
* Fixing style and warning in the order of initalizing members
* Fixing cases with / in different positions, and adding new tests
* Removing commented methods
* Changing extended_namespace to sub_namespace
* Fixed a bug when merging
* Fixed a bug when merging
* Sub Node alternative
* Sub Node alternative
* Test // characters in namespaces
* Fixing style and warning in the order of initalizing members
* Fixing cases with / in different positions, and adding new tests
* Removing commented methods
* Changing extended_namespace to sub_namespace
* Fixed a bug when merging
* Merge with origin to update branch
* improvements to API and documentation
Signed-off-by: William Woodall <william@osrfoundation.org>
* style and fixing tests
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixup subnode specific tests
Signed-off-by: William Woodall <william@osrfoundation.org>
* remove vestigial function
Signed-off-by: William Woodall <william@osrfoundation.org>
* improve documentation
Signed-off-by: William Woodall <william@osrfoundation.org>
* add test to check interaction between ~ and sub-nodes
Signed-off-by: William Woodall <william@osrfoundation.org>
* typo
Signed-off-by: William Woodall <william@osrfoundation.org>
* Start work on creaating NodeOptions structure.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Continue work on NodeOptions.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Update tests for NodeOptions impl.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Update documentation and copy/assignment.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Update rclcpp_lifecycle to conform to new API.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Use builder pattern with NodeOptions.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Documentation updates.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* Update rclcpp_lifecycle to use NodeOptions.
Signed-off-by: Michael Carroll <michael@openrobotics.org>
* change to parameter idiom only, from builder pattern
Signed-off-by: William Woodall <william@osrfoundation.org>
* Update rclcpp/include/rclcpp/node_options.hpp
Co-Authored-By: wjwwood <william+github@osrfoundation.org>
Signed-off-by: William Woodall <william@osrfoundation.org>
* follow up with more resets of the rcl_node_options_t
Signed-off-by: William Woodall <william@osrfoundation.org>
* todo about get env
Signed-off-by: William Woodall <william@osrfoundation.org>
* Add in the ability to get parameters in a map.
Any parameters that have a "." in them will be considered to
be part of a "map" (though they can also be get and set
individually). This PR adds two new template specializations
to the public node API so that it can take a map, and store
the list of values (so setting the parameter with a name of
"foo" and a key of "x" will end up with a parameter of "foo.x").
It also adds an API to get all of the keys corresponding to
a prefix, and returing that as a map (so a get of "foo" will
get all parameters that begin with "foo."). Note that all
parameters within the map must have the same type, otherwise
an rclcpp::ParameterTypeException will be thrown.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
* Fix style problems pointed out by uncrustify/cpplint.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
* Move tests for set_parameter_if_not_set/get_parameter map to rclcpp.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
* Rename get_parameter -> get_parameters.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
* Add in documentation from review.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
* added new constructors for sync parameter client
* sync param client now has raw ptr member instead of shared ptr
* fixed pointer style
* allow objects which do not inherit from node to create a sync parameters client
* use signal safe synchronization with platform specific semaphores
Signed-off-by: William Woodall <william@osrfoundation.org>
* addressed feedback and refactored into separate files
Signed-off-by: William Woodall <william@osrfoundation.org>
* Apply suggestions from code review
Co-Authored-By: wjwwood <william+github@osrfoundation.org>
* include what you use (cpplint)
Signed-off-by: William Woodall <william@osrfoundation.org>
* avoid redundant use of SignalHandler::
Signed-off-by: William Woodall <william@osrfoundation.org>
* Update rclcpp/src/rclcpp/signal_handler.hpp
Co-Authored-By: wjwwood <william+github@osrfoundation.org>
* fix Windows build
Signed-off-by: William Woodall <william@osrfoundation.org>
* actually fix Windows
Signed-off-by: William Woodall <william@osrfoundation.org>
Resolves#595
* Separate the Node Time Source from the Node Clock
* Implement initial value checking of use_sim_time parameter parameter
* Be sure to update all newly attached clocks
* Homogenizing the behavior to use the last received value otherwise zero time when enabling sim time.
* Add virtual destructors to interface classes
* [WIP] Refactor signal handling.
* fix deadlock
Signed-off-by: William Woodall <william@osrfoundation.org>
* finished fixing signal handling and removing more global state
Signed-off-by: William Woodall <william@osrfoundation.org>
* add missing include of <condition_variable>
* use unordered map in signal handling class
Signed-off-by: William Woodall <william@osrfoundation.org>
* use consistent terminology
Signed-off-by: William Woodall <william@osrfoundation.org>
* use emplace in map
Signed-off-by: William Woodall <william@osrfoundation.org>
* avoid throwing in destructor
Signed-off-by: William Woodall <william@osrfoundation.org>
* words
Signed-off-by: William Woodall <william@osrfoundation.org>
* avoid throwing from destructors in a few places
Signed-off-by: William Woodall <william@osrfoundation.org>
* make install/uninstall thread-safe
Signed-off-by: William Woodall <william@osrfoundation.org>
* add wait_for_action_server() for action clients
Signed-off-by: William Woodall <william@osrfoundation.org>
* Handle negative timeouts in wait_for_service() and wait_for_action_server() methods.
* Fix uncrustify errors.
* Ignore take failure on services for connext
* refactor init to allow for non-global init
Signed-off-by: William Woodall <william@osrfoundation.org>
* Update rclcpp/include/rclcpp/utilities.hpp
Co-Authored-By: wjwwood <william+github@osrfoundation.org>
* Update rclcpp/include/rclcpp/utilities.hpp
Co-Authored-By: wjwwood <william+github@osrfoundation.org>
* Update rclcpp/include/rclcpp/utilities.hpp
Co-Authored-By: wjwwood <william+github@osrfoundation.org>
* Update rclcpp/src/rclcpp/utilities.cpp
Co-Authored-By: wjwwood <william+github@osrfoundation.org>
* refactor state into context objects and fix signal handling
Signed-off-by: William Woodall <william@osrfoundation.org>
* avoid nullptr access in error messages
Signed-off-by: William Woodall <william@osrfoundation.org>
* avoid exception in publish after shutdown was called
Signed-off-by: William Woodall <william@osrfoundation.org>
* fix missing and unused headers
Signed-off-by: William Woodall <william@osrfoundation.org>
* cpplint
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixes found during testing
Signed-off-by: William Woodall <william@osrfoundation.org>
* address bug found in review comment
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixes and warnings fixed during testing
Signed-off-by: William Woodall <william@osrfoundation.org>
* addressing review comments
Signed-off-by: William Woodall <william@osrfoundation.org>
* ensure new ExecutorArgs are used everywhere
* [rclcpp] Add class Waitable
Provides a virtual API for interacting with wait sets.
* [rclcpp] Add node interface for Waitables
* [rclcpp] Implement node interface for Waitables
* [rclcpp] Integrate Waitable entities with executor
* Implement remaining logic for integrating Waitables
* Add visibility macros and other refactoring to Waitable class
* Return zero size for entities in a Waitable by default
* Bugfix: Clear list of waitable handles
* Bugfix: update Waitable handle list based on readiness
* Bugfix: update for loop condition
* Give node a node_waitables_
* Give lifecycle node a node_waitables
Now the functions take an optional output index argument.
Refactored the graph listener usage of rcl_wait_set_add_guard_condition() to take advantage of the new API.
* issue a warning if publishing on a not active publisher
* Adding a logger private member in LifecyclePublisher for avoiding creating a new one echa call
* Providing logging macro signature that accepts std::string
* - RCLCPP_ prefix to macros Add
- New tests added
* - Added doc to the functions and macros
- Functions declared as RCLCPP_PUBLIC
* - Small typo in doc corrected
* Fixed error when compiling with clang
* touch up docs
This fixes the build on MacOS High Sierra and later, and
is the more correct thing to do anyway.
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
* Don't auto-activate ROS time if clock topic is being published
* Destroy subscription when not needed, avoid re-creating it
* Additional tests
* Always reset pointer
* Initialise sub in initialiser list
