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Add rclcpp_generic, a publisher and subscription for serialized messages #1452

Merged
merged 43 commits into from
Apr 3, 2021
Merged

Add rclcpp_generic, a publisher and subscription for serialized messages #1452

merged 43 commits into from
Apr 3, 2021

Commits on Apr 1, 2021

  1. Copying files from rosbag2 

    The generic_* files are from rosbag2_transport
typesupport_helpers incl. test is from rosbag2_cpp
memory_management.hpp is from rosbag2_test_common
test_pubsub.cpp was renamed from test_rosbag2_node.cpp from rosbag2_transport

Signed-off-by: Nikolai Morin <[email protected]>
    @nnmm @jacobperron
    nnmm authored and jacobperron committed Apr 1, 2021
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  2. Rebrand into rclcpp_generic 

    Add package.xml, CMakeLists.txt, Doxyfile, README.md and CHANGELOG.rst
Rename namespaces
Make GenericPublisher and GenericSubscription self-contained by storing shared library
New create() methods that return shared pointers
Add docstrings
Include only what is needed
Make linters & tests pass

Signed-off-by: Nikolai Morin <[email protected]>
    @nnmm @jacobperron
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  3. Review feedback 

    * Delete CHANGELOG.rst
* Enable cppcheck
* Remove all references to rosbag2/ros2bag

Signed-off-by: Nikolai Morin <[email protected]>
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  4. Move rclpp_generic into rclcpp 

    Signed-off-by: Nikolai Morin <[email protected]>
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  5. Rename namespace rclcpp_generic to rclcpp::generic 

    Signed-off-by: Nikolai Morin <[email protected]>
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  6. Free 'create' functions instead of static functions in class 

    Signed-off-by: Nikolai Morin <[email protected]>
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  7. Remove 'generic' subdirectory and namespace hierarchy 

    Signed-off-by: Nikolai Morin <[email protected]>
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  8. Order includes according to style guide 

    Signed-off-by: Nikolai Morin <[email protected]>
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  9. Remove extra README.md 

    Signed-off-by: Nikolai Morin <[email protected]>
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  10. Also add brief to class docs 

    Signed-off-by: Nikolai Morin <[email protected]>
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  11. Make ament_index_cpp a build_depend 

    Signed-off-by: Nikolai Morin <[email protected]>
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  12. Add to rclcpp.hpp 

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  13. Remove memory_management, use rclcpp::SerializedMessage in GenericPub… 

    …lisher::publish

Signed-off-by: Nikolai Morin <[email protected]>
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  14. Clean up the typesupport_helpers 

    Signed-off-by: Nikolai Morin <[email protected]>
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  15. Use make_shared, add UnimplementedError 

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  16. Add more comments, make member variable private, remove unnecessary i… 

    …nclude

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  17. Apply suggestions from code review 

    Co-authored-by: William Woodall <[email protected]>
Signed-off-by: Nikolai Morin <[email protected]>
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  18. Rename test 

    Signed-off-by: Nikolai Morin <[email protected]>
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  19. Update copyright and remove ament_target_dependencies for test 

    Signed-off-by: Nikolai Morin <[email protected]>
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  20. Accept PublisherOptions and SubscriptionOptions 

    Signed-off-by: Nikolai Morin <[email protected]>
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  21. Remove target_include_directories 

    Signed-off-by: Nikolai Morin <[email protected]>
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  22. Add explanatory comment to SubscriptionBase 

    Signed-off-by: Nikolai Morin <[email protected]>
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  23. Use kSolibPrefix and kSolibExtension from rcpputils 

    Signed-off-by: Nikolai Morin <[email protected]>
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  24. Fix downstream build failure by making ament_index_cpp a build_export… 

    …_depend

Signed-off-by: Nikolai Morin <[email protected]>
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  25. Use path_for_library(), fix documentation nitpicks 

    Signed-off-by: Nikolai Morin <[email protected]>
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  26. Improve error handling in get_typesupport_handle 

    Signed-off-by: Nikolai Morin <[email protected]>
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  27. Accept SubscriptionOptions in GenericSubscription 

    Signed-off-by: Nikolai Morin <[email protected]>
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  28. Make use of PublisherOptions in GenericPublisher 

    Signed-off-by: Nikolai Morin <[email protected]>
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  29. Document typesupport_helpers 

    Signed-off-by: Nikolai Morin <[email protected]>
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  30. Improve documentation 

    Signed-off-by: Nikolai Morin <[email protected]>
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  31. Use std::function instead of function pointer 

    Co-authored-by: William Woodall <[email protected]>
Signed-off-by: Nikolai Morin <[email protected]>
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  32. Minimize vertical whitespace 

    Signed-off-by: Nikolai Morin <[email protected]>
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  33. Add TODO for callback with message info 

    Signed-off-by: Nikolai Morin <[email protected]>
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  34. Link issue in TODO 

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  35. Add missing include for functional 

    Signed-off-by: nnmm <[email protected]>
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  36. Fix compilation 

    Signed-off-by: Jacob Perron <[email protected]>
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  37. Fix lint 

    Signed-off-by: Jacob Perron <[email protected]>
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Commits on Apr 2, 2021

  1. Address review comments (#1) 

    * fix redefinition of default template arguments

Signed-off-by: Karsten Knese <[email protected]>

* address review comments

Signed-off-by: Karsten Knese <[email protected]>

* rename test executable

Signed-off-by: Karsten Knese <[email protected]>

* add functionality to lifecycle nodes

Signed-off-by: Karsten Knese <[email protected]>
    @Karsten1987
    Karsten1987 authored Apr 2, 2021
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  2. Refactor typesupport helpers 

    * Make extract_type_identifier function private
* Remove unused extract_type_and_package function
* Update unit tests

Signed-off-by: Jacob Perron <[email protected]>
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  3. Remove note about ament from classes 

    This comment only applies to the free functions.

Signed-off-by: Jacob Perron <[email protected]>
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  4. Fix formatting 

    Co-authored-by: Karsten Knese <[email protected]>
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    jacobperron and Karsten1987 authored Apr 2, 2021
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  5. Fix warning 

    Possible loss of data from double to rcutils_duration_value_t

Signed-off-by: Jacob Perron <[email protected]>
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  6. Add missing visibility macros 

    Signed-off-by: Jacob Perron <[email protected]>
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    jacobperron committed Apr 2, 2021
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