* 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>
* Changed mapped_ring_buffer class to store both shared_ptr or unique_ptr
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* Changed the IPM store and take methods
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* Changed publish methods to take advantage of the new IPM
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* Change how subscriptions handle intraprocess messages
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* Modified publish method signatures
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* Renamed 'publisher.cpp' and 'subscription.cpp' to 'publisher_base.cpp' and 'subscription_base.cpp'
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* Updated lifecycle_publisher publish methods
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
* in progress broken test_time_source
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
* style
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
* test undeclared params
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
* Only get parameter if it is set
Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
* doc fixup
Signed-off-by: William Woodall <william@osrfoundation.org>
* use override rather than virtual in places
Signed-off-by: William Woodall <william@osrfoundation.org>
* rename ParameterInfo_t to ParameterInfo and just use struct, no typedef
Signed-off-by: William Woodall <william@osrfoundation.org>
* add method to access ParameterValue within a Parameter
Signed-off-by: William Woodall <william@osrfoundation.org>
* enable get<Parameter> and get<ParameterValue> on Parameter class
Signed-off-by: William Woodall <william@osrfoundation.org>
* avoid const pass by value
Signed-off-by: William Woodall <william@osrfoundation.org>
* match type of enum in C++ to type used in message definition
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixup after rebase
Signed-off-by: William Woodall <william@osrfoundation.org>
* more fixup after rebase
Signed-off-by: William Woodall <william@osrfoundation.org>
* replace create_parameter with declare_parameter
Signed-off-by: William Woodall <william@osrfoundation.org>
* provide implementation for templated declare_parameter method
Signed-off-by: William Woodall <william@osrfoundation.org>
* style
Signed-off-by: William Woodall <william@osrfoundation.org>
* do not use const reference when it's a primitive (like bool)
Signed-off-by: William Woodall <william@osrfoundation.org>
* typo
Signed-off-by: William Woodall <william@osrfoundation.org>
* follow to bool change that wasn't staged
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixup tests
Signed-off-by: William Woodall <william@osrfoundation.org>
* added lots of docs, alternative API signatures, and some of the tests
Signed-off-by: William Woodall <william@osrfoundation.org>
* more tests and associated fixes
Signed-off-by: William Woodall <william@osrfoundation.org>
* address documentation feedback
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixup previously added tests
Signed-off-by: William Woodall <william@osrfoundation.org>
* add tests and fixes for describe_parameter(s) and get_parameter_types
Signed-off-by: William Woodall <william@osrfoundation.org>
* remove old parameter tests
Signed-off-by: William Woodall <william@osrfoundation.org>
* use const reference where possible
Signed-off-by: William Woodall <william@osrfoundation.org>
* address comments
Signed-off-by: William Woodall <william@osrfoundation.org>
* fix tests for deprecated methods
Signed-off-by: William Woodall <william@osrfoundation.org>
* address feedback
Signed-off-by: William Woodall <william@osrfoundation.org>
* significantly improve the reliability of the time_source tests
Signed-off-by: William Woodall <william@osrfoundation.org>
* uncrustify, cpplint, and cppcheck fixes
Signed-off-by: William Woodall <william@osrfoundation.org>
* Revert "significantly improve the reliability of the time_source tests"
This reverts commit 3ef385d8419c3f71cba91e622138583a91b2682a.
Signed-off-by: William Woodall <william@osrfoundation.org>
* only declare use_sim_time parameter if not already declared
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixup rclcpp_lifecycle
Signed-off-by: William Woodall <william@osrfoundation.org>
* fixup tests
Signed-off-by: William Woodall <william@osrfoundation.org>
* add missing namespace scope which fails on Windows
Signed-off-by: William Woodall <william@osrfoundation.org>
* extend deprecation warning suppression to support Windows too
Signed-off-by: William Woodall <william@osrfoundation.org>
* fix compiler warnings and missing visibility macro
Signed-off-by: William Woodall <william@osrfoundation.org>
* remove commented left over tests
Signed-off-by: William Woodall <william@osrfoundation.org>
* fix compiler warning on Windows
Signed-off-by: William Woodall <william@osrfoundation.org>
* suppress deprecation warning on include of file in Windows
Signed-off-by: William Woodall <william@osrfoundation.org>
* avoid potential loss of data warning converting int64_t to int
Signed-off-by: William Woodall <william@osrfoundation.org>
* trying to fix more loss of data warnings
Signed-off-by: William Woodall <william@osrfoundation.org>
* fix test_node
Signed-off-by: William Woodall <william@osrfoundation.org>
* add option to automatically declare parameters from initial parameters (yaml file)
Signed-off-by: William Woodall <william@osrfoundation.org>
* remove redundant conditional
Signed-off-by: William Woodall <william@osrfoundation.org>
There are getters for the other interfaces, but the logging interface
appears to have been overlooked.
Signed-off-by: Michael Jeronimo <michael.jeronimo@intel.com>
* 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>
* 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
* 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
* Split ParametrVariant into Parameter and ParameterValue
* Test expects ParameterTypeException
* get_parameter_value() -> get_value_message()
* Make to_parameter() const and rename to to_parameter_msg()
* Control shared/static linking via BUILD_SHARED_LIBS
* Remove rmw dependency
* Add for rclcpp_lifecycle too
* exec depend on ament_cmake is for normalize_path
* rclcpp logging still uses fprintf all over the place.
Remove all printf log lines and replace with RCLUTILS_LOG_XXX macros.
Issue: #438
* fixup include order
