8000 Improve trigger test for graph guard condition by Barry-Xu-2018 · Pull Request #811 · ros2/rcl · GitHub
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Improve trigger test for graph guard condition #811

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Merged
merged 5 commits into from
Dec 22, 2020
Merged

Improve trigger test for graph guard condition #811

merged 5 commits into from
Dec 22, 2020

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Barry-Xu-2018
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@fujitatomoya
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fix #574 (to keep the cross-reference)

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@fujitatomoya

Thanks for adding linker.
I plan to add linker after internal checking. So not directly add linker to issue :)

@Barry-Xu-2018 Barry-Xu-2018 mentioned this pull request Sep 28, 2020
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fujitatomoya requested changes Sep 28, 2020
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@Barry-Xu-2018
CC: @ivanpauno

the current test code is to see if graph guard condition is triggered, but not checking the graph side-effects such as interfaces with https://github.com/ros2/rcl/blob/master/rcl/include/rcl/graph.h. I think that requirement is to check the graph side-effects too. (comes from #574 (comment))

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@fujitatomoya

the current test code is to see if graph guard condition is triggered, but not checking the graph side-effects such as interfaces with https://github.com/ros2/rcl/blob/master/rcl/include/rcl/graph.h. I think that requirement is to check the graph side-effects too. (comes from #574 (comment))

Do you means I should call function in graph.h such as rcl_count_publishers() to check ?

With a "graph side-effect", I mean anything that can change the output of all the functions defined here and publisher_count/subscription_count functions.

My understanding is
All actions affect output of functions list in here. This effect is graph side-effects. So we should test these actions.

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Do you means I should call function in graph.h such as rcl_count_publishers() to check ?

yes, i was thinking in that way. but i may be wrong since there are already tests for each method for https://github.com/ros2/rcl/blob/master/rcl/include/rcl/graph.h.

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Yes.
I check the remaining test in test_graph.cpp. API listed in graph.h are checked.
We can hear ivanpauno' opinion.

@clalancette clalancette requested a review from ivanpauno October 15, 2020 17:27
ivanpauno
ivanpauno reviewed Oct 19, 2020
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Do you means I should call function in graph.h such as rcl_count_publishers() to check ?

Calling rcl_count_publishers() doesn't trigger the graph guard condition, what should trigger it is the creation of a publisher that matches a subscription (and the opposite too).

The issue is that detecting a new publisher/subscription also triggers the graph guard condition, so checking that sounds impossible.

@Barry-Xu-2018 Barry-Xu-2018 force-pushed the topic-improve-graph-guard-condition-test branch 3 times, most recently from e4f72e5 to 5e1279a Compare October 29, 2020 01:54
@Barry-Xu-2018
Improve trigger test for graph guard condition
99efa4f 
Signed-off-by: Barry Xu <barry.xu@sony.com>
@Barry-Xu-2018
Update codes based on comments.
c50e4ab 
Signed-off-by: Barry Xu <barry.xu@sony.com>
@Barry-Xu-2018
Update codes based on review comments
2cd6957 
Signed-off-by: Barry Xu <barry.xu@sony.com>
@Barry-Xu-2018
Change codes based on review comments.
bb2365c 
1. change codes to use existing context
2. after no graph change condition, start to test

Signed-off-by: Barry Xu <barry.xu@sony.com>
@Barry-Xu-2018 Barry-Xu-2018 force-pushed the topic-improve-graph-guard-condition-test branch from 5e1279a to bb2365c Compare December 17, 2020 03:26
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@ivanpauno

You could wait repeatedly with a timeout until the graph guard condition is not more ready, that should "clear" previous graph changes.

Yeah. I have confirmed it and updated codes.
Please help review again.

ivanpauno
ivanpauno reviewed Dec 21, 2020
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LGTM with the only pending comment addressed

@Barry-Xu-2018
Fix a bug.
396010b 
Signed-off-by: Barry Xu <barry.xu@sony.com>
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@ivanpauno

I fix it and change to for loop.
Please check again.

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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

@ivanpauno ivanpauno merged commit a6cacef into ros2:master Dec 22, 2020
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Thanks for the contribution @Barry-Xu-2018 !

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I think this PR is causing the test_graph__rmw_connext_cpp failures we are seeing on all platforms: https://ci.ros2.org/view/nightly/job/nightly_linux_debug/1802/testReport/junit/projectroot/test/test_graph__rmw_connext_cpp/ . If I revert this PR, then that test starts succeeding for me locally.

It's weird that the CI above was green, but it is failing in the nightlies. Maybe there is something else at work here. But for now I'm going to open a revert PR, and we can follow-up with another fix later. @Barry-Xu-2018 @ivanpauno FYI.

clalancette added 8000 a commit that referenced this pull request Jan 7, 2021
@clalancette
Revert "Improve trigger test for graph guard condition (#811)"
1d5b2be 
This reverts commit a6cacef.
@clalancette clalancette mentioned this pull request Jan 7, 2021
Merged
clalancette added a commit that referenced this pull request Jan 7, 2021
@clalancette
Revert "Improve trigger test for graph guard condition (#811)"
3856677 
This reverts commit a6cacef.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
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It's weird that the CI above was green

That one was only fastrtps, I think it makes sense to revert for the moment.

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That one was only fastrtps, I think it makes sense to revert for the moment.

Ah, I missed that. That explains it, thanks.

clalancette added a commit that referenced this pull request Jan 7, 2021
@clalancette
Revert "Improve trigger test for graph guard condition (#811)" (#883)
db576d5 
This reverts commit a6cacef.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Barry-Xu-2018 added a commit to Barry-Xu-2018/rcl that referenced this pull request Jan 8, 2021
@Barry-Xu-2018
Re-add "Improve trigger test for graph guard condition (ros2#811)"
767a61b 
Updated codes based on commit a6cacef.

Signed-off-by: Barry Xu <barry.xu@sony.com>
Barry-Xu-2018 added a commit to Barry-Xu-2018/rcl that referenced this pull request Jan 11, 2021
@Barry-Xu-2018
Re-add "Improve trigger test for graph guard condition (ros2#811)"
84a5d7c 
Updated the value of timeout based on commit a6cacef.

Signed-off-by: Barry Xu <barry.xu@sony.com>
ivanpauno pushed a commit that referenced this pull request Jan 11, 2021
@Barry-Xu-2018
Re-add "Improve trigger test for graph guard condition (#811)" (#884)
c83119c 
Signed-off-by: Barry Xu <barry.xu@sony.com>
@Barry-Xu-2018 Barry-Xu-2018 deleted the topic-improve-graph-guard-condition-test branch January 12, 2021 03:06
@Barry-Xu-2018 Barry-Xu-2018 mentioned this pull request Mar 10, 2021
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timonegk pushed a commit to timonegk/ros-rolling-rcl-release that referenced this pull request May 21, 2022
@ivanpauno @timonegk
Import Debian changes 5.3.0-1jammy
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ros-rolling-rcl (5.3.0-1jammy) jammy; urgency=high
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  * Add Library for wait_for_entity_helpers to deduplicate compilation (#942 <ros2/rcl#942>)
  * Increase Windows timeout 15 -> 25 ms (#940 <ros2/rcl#940>)
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ros-rolling-rcl (3.1.2-1jammy) jammy; urgency=high
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  * Add functions for waiting for publishers and subscribers (#907 <ros2/rcl#907>)
  * Revert "Mark cyclonedds test_service test as flakey (#648 <ros2/rcl#648>)" (#904 <ros2/rcl#904>)
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ros-rolling-rcl (2.5.2-1jammy) jammy; urgency=high
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ros-rolling-rcl (2.5.1-1jammy) jammy; urgency=high
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  * Re-add "Improve trigger test for graph guard condition (#811 <ros2/rcl#811>)" (#884 <ros2/rcl#884>)
  * Revert "Improve trigger test for graph guard condition (#811 <ros2/rcl#811>)" (#883 <ros2/rcl#883>)
  * Move the guard condition cleanup after removing callback. (#877 <ros2/rcl#877>)
  * Make test_subscription_nominal_string_sequence more reliable (#881 <ros2/rcl#881>)
  * Improve trigger test for graph guard condition (#811 <ros2/rcl#811>)
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  * Contributors: Barry Xu, Chris Lalancette, Ivan Santiago Paunovic, Nikolai Morin
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ros-rolling-rcl (2.4.0-1jammy) jammy; urgency=high
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ros-rolling-rcl (2.3.0-1jammy) jammy; urgency=high
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  * Update maintainers (#825 <ros2/rcl#825>)
  * Add a semicolon to RCUTILS_LOGGING_AUTOINIT. (#816 <ros2/rcl#816>)
  * Improve error messages in rcl_lifecycle (#742 <ros2/rcl#742>)
  * Fix memory leak on serialized message in test_publisher/subscription.cpp (#801 <ros2/rcl#801>)
  * Fix memory leak because of mock test (#800 <ros2/rcl#800>)
  * Spelling correction (#798 <ros2/rcl#798>)
  * Fix that not to deallocate event impl in some failure case (#790 <ros2/rcl#790>)
  * calling fini functions to avoid memory leak (#791 <ros2/rcl#791>)
  * Contributors: Barry Xu, Chen Lihui, Chris Lalancette, Geoffrey Biggs, Ivan Santiago Paunovic, Jacob Perron, Lei Liu
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ros-rolling-rcl (2.2.0-1jammy) jammy; urgency=high
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  * Check if rcutils_strdup() outcome immediately (#768 <ros2/rcl#768>)
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  * Fix bug error handling in get_param_files (#743 <ros2/rcl#743>)
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  * Restore env variables set in the test_failing_configuration. (#733 <ros2/rcl#733>)
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  * Reformat rmw_impl_id_check to call a testable function (#725 <ros2/rcl#725>)
  * Add extra check for invalid event implementation (#726 <ros2/rcl#726>)
  * Consolidate macro duplication (#653 <ros2/rcl#653>)
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ros-rolling-rcl (2.1.0-1jammy) jammy; urgency=high
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  * Add function rcl_event_is_valid (#720 <ros2/rcl#720>)
  * Move actual domain id from node to context (#718 <ros2/rcl#718>)
  * Removed doxygen warnings (#712 <ros2/rcl#712>)
  * Remove some dead code.
  * Make sure to call rcl_arguments_fini at the end of the test.
  * Add remap needed null check (#711 <ros2/rcl#711>)
  * Make public init/fini rosout publisher (#704 <ros2/rcl#704>)
  * Move rcl_remap_copy to public header (#709 <ros2/rcl#709>)
  * Contributors: Alejandro Hernández Cordero, Chris Lalancette, Ivan Santiago Paunovic, Jorge Perez
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ros-rolling-rcl (2.0.0-1jammy) jammy; urgency=high
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  * Implement a generic way to change logging levels (#664 <ros2/rcl#664>)
  * Remove domain_id and localhost_only from node_options (#708 <ros2/rcl#708>)
  * Add coverage tests (#703 <ros2/rcl#703>)
  * Add bad arguments tests for coverage (#698 <ros2/rcl#698>)
  * Remove unused internal prototypes (#699 <ros2/rcl#699>)
  * Update quality declaration and coverage (#674 <ros2/rcl#674>)
  * Add setter and getter for domain_id in rcl_init_options_t (#678 <ros2/rcl#678>)
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  * Fix link to latest API docs (#692 <ros2/rcl#692>)
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  * Update tracetools' QL to 2 in rcl's QD (#690 <ros2/rcl#690>)
  * Improve subscription coverage (#681 <ros2/rcl#681>)
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ros-rolling-rcl (1.2.0-1jammy) jammy; urgency=high
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  * Contributors: Alejandro Hernández Cordero, Chris Lalancette, Ivan Santiago Paunovic, Jorge Perez, Michel Hidalgo, tomoya
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ros-rolling-rcl (1.1.5-1jammy) jammy; urgency=high
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  * Add Security Vulnerability Policy pointing to REP-2006 (#661 <ros2/rcl#661>)
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  * Expose rcl default logging output handler (#660 <ros2/rcl#660>)
  * Remove deprecated functions (#658 <ros2/rcl#658>)
  * Warn about unused return value for set_logger_level (#652 <ros2/rcl#652>)
  * Mark cyclonedds test_service test as flakey (#648 <ros2/rcl#648>)
  * Convert sleep_for into appropriate logic in tests(#631 <ros2/rcl#631>)
  * Reduce timeouts in tests(#613 <ros2/rcl#613>)
  * Add tests for time.c and timer.c (#599 <ros2/rcl#599>)
  * Update Quality Declaration for 1.0 (#647 <ros2/rcl#647>)
  * Contributors: Barry Xu, Dirk Thomas, Ivan Santiago Paunovic, Jorge Perez, Tully Foote, brawner
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.
  * Remove MANUAL_BY_NODE liveliness API (#645 <ros2/rcl#645>)
  * Make test_two_timers* more reliable (#640 <ros2/rcl#640>)
  * Contributors: Ivan Santiago Paunovic
.
ros-rolling-rcl (0.9.1-1jammy) jammy; urgency=high
.
  * Included features (#644 <ros2/rcl#644>)
  * Current state Quality Declaration (#639 <ros2/rcl#639>)
  * Initialize service timestamps to 0 and test. (#642 <ros2/rcl#642>)
  * Contributors: Alejandro Hernández Cordero, Ingo Lütkebohle, Jorge Perez
.
ros-rolling-rcl (0.9.0-1jammy) jammy; urgency=high
.
  * Fix std::string construction in test (#636 <ros2/rcl#636>)
  * Add basic functionality tests for validate_enclave_name and subscription (#624 <ros2/rcl#624>)
  * Save allocator for RCL_CLOCK_UNINITIALIZED clock (#623 <ros2/rcl#623>)
  * Implement service info structure with timestamps (#627 <ros2/rcl#627>)
  * Add support for taking a sequence of messages (#614 <ros2/rcl#614>)
  * Message info with timestamps support in rcl (#619 <ros2/rcl#619>)
  * Don't call ``rcl_logging_configure/rcl_logging_fini`` in ``rcl_init/rcl_shutdown`` (#579 <ros2/rcl#579>)
  * Export targets in a addition to include directories / libraries (#629 <ros2/rcl#629>)
  * Document rcl_pub/etc_fini() must come before rcl_node_fini() (#625 <ros2/rcl#625>)
  * Update security environment variables (#617 <ros2/rcl#617>)
  * Add visibility to rcl_timer_get_allocator (#610 <ros2/rcl#610>)
  * Fix test_publisher memory leaks reported by asan (#567 <ros2/rcl#567>)
  * security-context -> enclave (#612 <ros2/rcl#612>)
  * Rename rosidl_generator_c namespace to rosidl_runtime_c (#616 <ros2/rcl#616>)
  * Rename rosidl_generator_cpp namespace to rosidl_runtime_cpp (#615 <ros2/rcl#615>)
  * Fix security directory lookup for '/' security contexts (#609 <ros2/rcl#609>)
  * Changed rosidl_generator_c/cpp to rosidl_runtime_c/cpp (#588 <ros2/rcl#588>)
  * Remove deprecated CLI rules (#603 <ros2/rcl#603>)
  * Use keystore root as security root directory, and not contexts folder (#607 <ros2/rcl#607>)
  * Remove tinydir_vendor dependency (#608 <ros2/rcl#608>)
  * Add missing allocator check for NULL (#606 <ros2/rcl#606>)
  * Change naming style for private functions (#597 <ros2/rcl#597>)
  * Switch to one Participant per Context (#515 <ros2/rcl#515>)
  * Support for ON_REQUESTED_INCOMPATIBLE_QOS and ON_OFFERED_INCOMPATIBLE_QOS events (#535 <ros2/rcl#535>)
  * Small typo fix (#604 <ros2/rcl#604>)
  * Update docstring with new possible return code (#600 <ros2/rcl#600>)
  * Add missing node destruction (#601 <ros2/rcl#601>)
  * Test that nodes are returned with correct multiplicity (#598 <ros2/rcl#598>)
  * Trigger guard condition when timer is reset (#589 <ros2/rcl#589>)
  * Clock API improvements (#580 <ros2/rcl#580>)
  * Fix memory leak in rcl_arguments (#564 <ros2/rcl#564>)
  * Don't check history depth if RMW_QOS_POLICY_HISTORY_KEEP_ALL (#593 <ros2/rcl#593>)
  * Fix alloc-dealloc-mismatch(new->free) in test_info_by_topic (#469 <ros2/rcl#469>) (#569 <ros2/rcl#569>)
  * Use 10sec lifespan in rosout publisher qos (#587 <ros2/rcl#587>)
  * Document clock types (#578 <ros2/rcl#578>)
  * Make rosout publisher transient local with a depth of 1000 (#582 <ros2/rcl#582>)
  * Enable TestInfoByTopicFixture unit tests for other rmw_implementations (#583 <ros2/rcl#583>)
  * Fix memory leak in test_subscription_nominal (#469 <ros2/rcl#469>) (#562 <ros2/rcl#562>)
  * Update rmw_topic_endpoint_info_array usage (#576 <ros2/rcl#576>)
  * Add rcl versions of rmw_topic_endpoint_info* types (#558 <ros2/rcl#558>)
  * Enable test for rcl_get_subscriptions_info_by_topic / rcl_get_publishers_info_by_topic for Cyclone (#572 <ros2/rcl#572>)
  * Fixed missing initialization and fixed qos checking in test (#571 <ros2/rcl#571>)
  * Fix test_count_matched memory leaks reported by asan #567 <ros2/rcl#567> (#568 <ros2/rcl#568>)
  * Code style only: wrap after open parenthesis if not in one line (#565 <ros2/rcl#565>)
  * Fix return type of rcl_publisher_get_subscription_count() (#559 <ros2/rcl#559>)
  * Fix doc strings (#557 <ros2/rcl#557>)
  * Implement functions to get publisher and subcription informations like QoS policies from topic name (#511 <ros2/rcl#511>)
  * Use absolute topic name for ``rosout`` (#549 <ros2/rcl#549>)
  * Set allocator before goto fail (#546 <ros2/rcl#546>)
  * Add public facing API for validating rcl_wait_set_t (#538 <ros2/rcl#538>)
  * Add flag to enable/disable rosout logging in each node individually. (#532 <ros2/rcl#532>)
  * Treat __name the same as __node (#494 <ros2/rcl#494>)
  * Contributors: Alejandro Hernández Cordero, Barry Xu, Chris Lalancette, Dan Rose, Dennis Potman, Dirk Thomas, DongheeYe, Ingo Lütkebohle, Ivan Santiago Paunovic, Jacob Perron, Jaison Titus, Jorge Perez, Miaofei Mei, Michael Carroll, Michel Hidalgo, Mikael Arguedas, P. J. Reed, Ruffin, Shane Loretz, William Woodall, y-okumura-isp
.
ros-rolling-rcl (0.8.3-1jammy) jammy; urgency=high
.
  * Support CLI parameter overrides using dots instead of slashes. (#530 <ros2/rcl#530>)
    Signed-off-by: Michel Hidalgo <mailto:michel@ekumenlabs.com>
  * Contributors: Michel Hidalgo
.
ros-rolling-rcl (0.8.2-1jammy) jammy; urgency=high
.
  * Remove the prototype from rcl_impl_getenv. (#525 <ros2/rcl#525>)
  * Use return_loaned_message_from (#523 <ros2/rcl#523>)
  * Avoid ready_fn and self.proc_info (#522 <ros2/rcl#522>)
  * Add localhost option to node creation (#520 <ros2/rcl#520>)
  * Add initial instrumentation (#473 <ros2/rcl#473>)
  * Zero copy api (#506 <ros2/rcl#506>)
  * Don't create rosout publisher instance unless required. (#514 <ros2/rcl#514>)
  * Handle zero non-ROS specific args properly in rcl_remove_ros_arguments (#518 <ros2/rcl#518>)
  * Update rcl_node_init docstring (#517 <ros2/rcl#517>)
  * Remove vestigial references to rcl_ok() (#516 <ros2/rcl#516>)
  * Add mechanism to pass rmw impl specific payloads during pub/sub creation (#513 <ros2/rcl#513>)
  * Contributors: Brian Marchi, Chris Lalancette, Ingo Lütkebohle, Jacob Perron, Karsten Knese, Michel Hidalgo, Peter Baughman, William Woodall, tomoya
.
ros-rolling-rcl (0.8.1-1jammy) jammy; urgency=high
.
  * Switch the default logging implementation to spdlog.
  * Contributors: Chris Lalancette
.
ros-rolling-rcl (0.8.0-1jammy) jammy; urgency=high
.
  * Delete rcl_impl_getenv, replaced by rcutils_get_env (#502 <ros2/rcl#502>)
  * Parse CLI parameters and YAML files (#508 <ros2/rcl#508>)
  * Add specific return code for non existent node (#492 <ros2/rcl#492>)
  * Add node name and namespace validation to graph functions (#499 <ros2/rcl#499>)
  * Bring back deprecated CLI arguments (#496 <ros2/rcl#496>)
  * Polish rcl arguments implementation (#497 <ros2/rcl#497>)
  * Uncoment some test_graph test cases after fix in rmw_fastrtps (ros2/rmw_fastrtps#316 <ros2/rmw_fastrtps#316>) (#498 <ros2/rcl#498>)
  * Promote special CLI rules to flags (#495 <ros2/rcl#495>)
  * Fail fast on invalid ROS arguments (#493 <ros2/rcl#493>)
  * Enforce -r/--remap flags. (#491 <ros2/rcl#491>)
  * Support parameter overrides and remap rules flags on command line (#483 <ros2/rcl#483>)
  * Allow get_node_names to return result in any order (#488 <ros2/rcl#488>)
  * rosout init and fini marked as RCL_PUBLIC (#479 <ros2/rcl#479>)
  * included header in logging_rosout.c (#478 <ros2/rcl#478>)
  * Migrate to '--ros-args ... [--]'-based ROS args extraction (#477 <ros2/rcl#477>)
  * Improve security error messages  (#480 <ros2/rcl#480>)
  * Add function for getting clients by node (#459 <ros2/rcl#459>)
  * Remove special case check for manual_by_node for rmw_fastrtps (#467 <ros2/rcl#467>)
  * Fix memory leak of 56 bytes in test_graph
  * Change tests to try MANUAL_BY_TOPIC liveliness for FastRTPS (#465 <ros2/rcl#465>)
  * Implement get_actual_qos() for subscriptions (#455 <ros2/rcl#455>)
  * Log warning when remapping to an invalid node name (#454 <https://github.com/ros2/rcl/issues/454>)
  * Use size_t printf format for size_t variable (#453 <https://github.com/ros2/rcl/issues/453>)
  * Contributors: Alberto Soragna, Emerson Knapp, Jacob Perron, M. M, Michel Hidalgo, Mikael Arguedas, Víctor Mayoral Vilches, eboasson, ivanpauno
.
ros-rolling-rcl (0.7.4-1jammy) jammy; urgency=high
.
  * Fix tests now that FastRTPS correctly reports that liveliness is not supported (#452 <https://github.com/ros2/rcl/issues/452>)
  * In test_events, wait for discovery to be complete bidirectionally before moving on (#451 <https://github.com/ros2/rcl/issues/451>)
  * fix leak in test_service (#447 <https://github.com/ros2/rcl/issues/447>)
  * fix leak in test_guard_condition (#446 <https://github.com/ros2/rcl/issues/446>)
  * fix leak in test_get_actual_qos (#445 <https://github.com/ros2/rcl/issues/445>)
  * fix leak in test_expand_topic_name (#444 <https://github.com/ros2/rcl/issues/444>)
  * Contributors: Abby Xu, Emerson Knapp
.
ros-rolling-rcl (0.7.3-1jammy) jammy; urgency=high
.
  * Fixed memory leak in ``test_client`` (#443 <https://github.com/ros2/rcl/issues/443>)
  * Fixed memory leaks in ``test_wait.cpp`` (#439 <https://github.com/ros2/rcl/issues/439>)
  * Fixed memory leak in ``test_context`` (#441 <https://github.com/ros2/rcl/issues/441>)
  * Fixed memory leak in ``test_init`` (#440 <https://github.com/ros2/rcl/issues/440>)
  * Enabled rcl ``test_events`` unit tests on macOS (#433 <https://github.com/ros2/rcl/issues/433>)
  * Enabled deadline tests for FastRTPS (#438 <https://github.com/ros2/rcl/issues/438>)
  * Corrected use of ``launch_testing.assert.assertExitCodes`` (#437 <https://github.com/ros2/rcl/issues/437>)
  * Reverted "Changes the default 3rd party logger from rcl_logging_noop to… (#436 <https://github.com/ros2/rcl/issues/436>)
  * Fixed memory leaks in ``test_security_directory`` (#420 <https://github.com/ros2/rcl/issues/420>)
  * Fixed a memory leak in rcl context fini (#434 <https://github.com/ros2/rcl/issues/434>)
  * Contributors: Abby Xu, Cameron Evans, Chris Lalancette, Dirk Thomas, M. M, ivanpauno
.
ros-rolling-rcl (0.7.2-1jammy) jammy; urgency=high
.
  * Changes the default 3rd party logger from rcl_logging_noop to rcl_logging_log4cxx (#425 <https://github.com/ros2/rcl/issues/425>)
  * fix leak in node.c (#424 <https://github.com/ros2/rcl/issues/424>)
  * Add new RCL_RET_UNSUPPORTED (#432 <https://github.com/ros2/rcl/issues/432>)
  * New interfaces and their implementations for QoS features (#408 <https://github.com/ros2/rcl/issues/408>)
  * Add an allocator to the external logging initialization. (#430 <https://github.com/ros2/rcl/issues/430>)
  * fix buffer overflow in test_security_dir (#423 <https://github.com/ros2/rcl/issues/423>)
  * Rmw preallocate (#428 <https://github.com/ros2/rcl/issues/428>)
  * Use new test interface definitions (#427 <https://github.com/ros2/rcl/pull/427>)
  * Migrate launch tests to new launch_testing features & API (#405 <https://github.com/ros2/rcl/issues/405>)
  * Fix argument passed to logging macros (#421 <https://github.com/ros2/rcl/issues/421>)
  * Make sure to initialize the bool field. (#426 <https://github.com/ros2/rcl/issues/426>)
  * Contributors: Abby Xu, Chris Lalancette, Emerson Knapp, Jacob Perron, M. M, Michael Carroll, Michel Hidalgo, Nick Burek, Thomas Moulard
.
ros-rolling-rcl (0.7.1-1jammy) jammy; urgency=high
.
  * Replaced reinterperet_cast with static_cast. (#410 <https://github.com/ros2/rcl/issues/410>)
  * Fixed leak in __wait_set_clean_up. (#418 <https://github.com/ros2/rcl/issues/418>)
  * Updated initialization of rmw_qos_profile_t struct instances. (#416 <https://github.com/ros2/rcl/issues/416>)
  * Contributors: Dirk Thomas, M. M, jhdcs
.
ros-rolling-rcl (0.7.0-1jammy) jammy; urgency=high
.
  * Added more test cases for graph API + fix bug. (#404 <https://github.com/ros2/rcl/issues/404>)
  * Fixed missing include. (#413 <https://github.com/ros2/rcl/issues/413>)
  * Updated to use pedantic. (#412 <https://github.com/ros2/rcl/issues/412>)
  * Added function to get publisher actual qos settings. (#406 <https://github.com/ros2/rcl/issues/406>)
  * Refactored graph API docs. (#401 <https://github.com/ros2/rcl/issues/401>)
  * Updated to use ament_target_dependencies where possible. (#400 <https://github.com/ros2/rcl/issues/400>)
  * Fixed regression around fully qualified node name. (#402 <https://github.com/ros2/rcl/issues/402>)
  * Added function rcl_names_and_types_init. (#403 <https://github.com/ros2/rcl/issues/403>)
  * Fixed uninitialize sequence number of client. (#395 <https://github.com/ros2/rcl/issues/395>)
  * Added launch along with launch_testing as test dependencies. (#393 <https://github.com/ros2/rcl/issues/393>)
  * Set symbol visibility to hidden for rcl. (#391 <https://github.com/ros2/rcl/issues/391>)
  * Updated to split test_token to avoid compiler note. (#392 <https://github.com/ros2/rcl/issues/392>)
  * Dropped legacy launch API usage. (#387 <https://github.com/ros2/rcl/issues/387>)
  * Improved security directory lookup. (#332 <https://github.com/ros2/rcl/issues/332>)
  * Enforce non-null argv values on rcl_init(). (#388 <https://github.com/ros2/rcl/issues/388>)
  * Removed incorrect argument documentation. (#361 <https://github.com/ros2/rcl/issues/361>)
  * Changed error to warning for multiple loggers. (#384 <https://github.com/ros2/rcl/issues/384>)
  * Added rcl_node_get_fully_qualified_name. (#255 <https://github.com/ros2/rcl/issues/255>)
  * Updated rcl_remap_t to use the PIMPL pattern. (#377 <https://github.com/ros2/rcl/issues/377>)
  * Fixed documentation typo. (#376 <https://github.com/ros2/rcl/issues/376>)
  * Removed test circumvention now that a bug is fixed in rmw_opensplice. (#368 <https://github.com/ros2/rcl/issues/368>)
  * Updated to pass context to wait set, and fini rmw context. (#373 <https://github.com/ros2/rcl/issues/373>)
  * Updated to publish logs to Rosout. (#350 <https://github.com/ros2/rcl/issues/350>)
  * Contributors: AAlon, Dirk Thomas, Jacob Perron, M. M, Michael Carroll, Michel Hidalgo, Mikael Arguedas, Nick Burek, RARvolt, Ross Desmond, Sachin Suresh Bhat, Shane Loretz, William Woodall, ivanpauno
.
ros-rolling-rcl (0.6.4-1jammy) jammy; urgency=high
.
  * Added method for accessing rmw_context from rcl_context (#372 <https://github.com/ros2/rcl/issues/372>)
  * Added guard against bad allocation when calling rcl_arguments_copy() (#367 <https://github.com/ros2/rcl/issues/367>)
  * Updated to ensure that context instance id storage is aligned correctly (#365 <https://github.com/ros2/rcl/issues/365>)
  * Fixed error from uncrustify v0.68 (#364 <https://github.com/ros2/rcl/issues/364>)
  * Contributors: Jacob Perron, William Woodall, sgvandijk
.
ros-rolling-rcl (0.6.3-1jammy) jammy; urgency=high
.
  * Set rmw_wait timeout using ros timers too (#357 <https://github.com/ros2/rcl/issues/357>)
  * Contributors: Shane Loretz
.
ros-rolling-rcl (0.6.2-1jammy) jammy; urgency=high
.
  * Updated docs about possibility of rcl_take not taking (#356 <https://github.com/ros2/rcl/issues/356>)
  * Bugfix: ensure NULL timeout is passed to rmw_wait() when min_timeout is not set
    Otherwise, there is a risk of integer overflow (e.g. in rmw_fastrtps) and rmw_wait() will wake immediately.
  * Contributors: Jacob Perron, William Woodall
.
ros-rolling-rcl (0.6.1-1jammy) jammy; urgency=high
.
  * Added new cli parameters for configuring the logging. (#327 <https://github.com/ros2/rcl/issues/327>)
  * Added node graph api to rcl. (#333 <https://github.com/ros2/rcl/issues/333>)
  * Fixed compiler warning in clang (#345 <https://github.com/ros2/rcl/issues/345>)
  * Refactored init to not be global (#336 <https://github.com/ros2/rcl/issues/336>)
  * Methods to retrieve matched counts on pub/sub. (#326 <https://github.com/ros2/rcl/issues/326>)
  * Updated to output index in container when adding an entity to a wait set. (#335 <https://github.com/ros2/rcl/issues/335>)
  * Contributors: Jacob Perron, Michael Carroll, Nick Burek, Ross Desmond, William Woodall
.
ros-rolling-rcl (0.6.0-1jammy) jammy; urgency=high
.
  * Updated to expand node_secure_root using local_namespace (#300 <https://github.com/ros2/rcl/issues/300>)
  * Moved stdatomic helper to rcutils (#324 <https://github.com/ros2/rcl/issues/324>)
  * Added subfolder argument to the ROSIDL_GET_SRV_TYPE_SUPPORT macro (#322 <https://github.com/ros2/rcl/issues/322>)
  * Updated to use new error handling API from rcutils (#314 <https://github.com/ros2/rcl/issues/314>)
  * Fixed minor documentation issues (#305 <https://github.com/ros2/rcl/issues/305>)
  * Added macro semicolons (#303 <https://github.com/ros2/rcl/issues/303>)
  * Added Rcl timer with ros time (#286 <https://github.com/ros2/rcl/issues/286>)
  * Updated to ensure that timer period is non-negative (#295 <https://github.com/ros2/rcl/issues/295>)
  * Fixed calculation of next timer call (#291 <https://github.com/ros2/rcl/issues/291>)
  * Updated to null deallocated jump callbacks (#294 <https://github.com/ros2/rcl/issues/294>)
  * Included namespaces in get_node_names. (#287 <https://github.com/ros2/rcl/issues/287>)
  * Fixed documentation issues (#288 <https://github.com/ros2/rcl/issues/288>)
  * Updated to check if pointers are null before calling memset (#290 <https://github.com/ros2/rcl/issues/290>)
  * Added multiple time jump callbacks to clock (#284 <https://github.com/ros2/rcl/issues/284>)
  * Consolidated wait set functions (#285 <https://github.com/ros2/rcl/issues/285>)
    * Consolidate functions to clear wait set
    Added rcl_wait_set_clear()
    Added rcl_wait_set_resize()
    Removed
    rcl_wait_set_clear_subscriptions()
    rcl_wait_set_clear_guard_conditions()
    rcl_wait_set_clear_clients()
    rcl_wait_set_clear_services()
    rcl_wait_set_clear_timers()
    rcl_wait_set_resize_subscriptions()
    rcl_wait_set_resize_guard_conditions()
    rcl_wait_set_resize_timers()
    rcl_wait_set_resize_clients()
    rcl_wait_set_resize_services()
  * ROS clock storage initially set to zero (#283 <https://github.com/ros2/rcl/issues/283>)
  * Fixed issue with deallocation of parameter_files (#279 <https://github.com/ros2/rcl/issues/279>)
  * Update to initialize memory before sending a message (#277 <https://github.com/ros2/rcl/issues/277>)
  * Set error message when clock type is not ROS_TIME (#275 <https://github.com/ros2/rcl/issues/275>)
  * Copy allocator passed in to clock init (#274 <https://github.com/ros2/rcl/issues/274>)
  * Update to initialize timer with clock (#272 <https://github.com/ros2/rcl/issues/272>)
  * Updated to use test_msgs instead of std_msgs in tests (#270 <https://github.com/ros2/rcl/issues/270>)
  * Added regression test for node:__ns remapping (#263 <https://github.com/ros2/rcl/issues/263>)
  * Updated to support Uncrustify 0.67 (#266 <https://github.com/ros2/rcl/issues/266>)
  * Contributors: Chris Lalancette, Chris Ye, Dirk Thomas, Jacob Perron, Michael Carroll, Mikael Arguedas, Ruffin, Shane Loretz, William Woodall, dhood
.
ros-rolling-rcl (0.5.0-1jammy) jammy; urgency=high
.
  * Updated code to only use ``rcutils_allocator_t`` and not use system memory functions directly. (#261 <https://github.com/ros2/rcl/issues/261>)
  * Changed code to use ``rcutils_format_string()`` rather than ``malloc`` and ``rcutils_snprintf()`` (#240 <https://github.com/ros2/rcl/issues/240>)
  * Added functions for dealing with serialized messages. (#170 <https://github.com/ros2/rcl/issues/170>)
  * Updated to use ``test_msgs`` instead of ``example_interfaces``. (#259 <https://github.com/ros2/rcl/issues/259>)
  * Added regression test for the Connext specific 'wrong type writer' error. (#257 <https://github.com/ros2/rcl/issues/257>)
  * Added the ability to set the default logger level from command line. (#256 <https://github.com/ros2/rcl/issues/256>)
  * Refactored the ``memory_tools`` testing API to ``osrf_testing_tools_cpp`` (#238 <https://github.com/ros2/rcl/issues/238>)
  * Added support for passing YAML parameter files via the command line arguments.  (#253 <https://github.com/ros2/rcl/issues/253>)
  * Migrated existing uses of ``launch`` to use the same API in it's new API ``launch.legacy``. (#250 <https://github.com/ros2/rcl/issues/250>)
  * Added a printed warning if non-FQN namespace remapping is passed. (#248 <https://github.com/ros2/rcl/issues/248>)
  * Made some changes toward MISRA C compliance. (#229 <https://github.com/ros2/rcl/issues/229>)
  * Changed ``rcl_node_init()`` so that it now copies node options passed into it (#2
10000
31 <https://github.com/ros2/rcl/issues/231>)
  * Fixed some memory leaks in ``test_arguments`` (#230 <https://github.com/ros2/rcl/issues/230>)
  * Extended static remapping feature with support for the url scheme (#227 <https://github.com/ros2/rcl/issues/227>)
  * Made a change to force ``rcl_arguments_t`` to be zero initialized. (#225 <https://github.com/ros2/rcl/issues/225>)
  * Updated documentation for ``rmw_get_node_names()`` to mention the potential for null values (#214 <https://github.com/ros2/rcl/issues/214>)
  * Fix an issue with signed time difference. (#224 <https://github.com/ros2/rcl/issues/224>)
  * Changed library export order to fix static linking (#216 <https://github.com/ros2/rcl/issues/216>)
  * Implemented static remapping over command line arguments (#217 <https://github.com/ros2/rcl/issues/217> and #221 <https://github.com/ros2/rcl/issues/221>)
  * Added a sized validation function for the topic name as ``rcl_validate_topic_name_with_size()`` (#220 <https://github.com/ros2/rcl/issues/220>)
  * Added a logger name and stored it in the rcl node structure (#212 <https://github.com/ros2/rcl/issues/212>)
  * Changed ``rcutils_time_point_value_t`` type from ``uint64_t`` to ``int64_t`` (#208 <https://github.com/ros2/rcl/issues/208>)
  * Fixed a potential bug by resetting the ``RMWCount`` when using the ``DEALLOC`` macro on rmw storage of a wait set (#209 <https://github.com/ros2/rcl/issues/209> and #211 <https://github.com/ros2/rcl/issues/211>)
    * Signed-off-by: jwang <mailto:jing.j.wang@intel.com>
  * Fixed a potential bug by resetting ``wait_set`` type index in the ``SET_RESIZE`` macro (#207 <https://github.com/ros2/rcl/issues/207>)
    * Signed-off-by: jwang <mailto:jing.j.wang@intel.com>
  * Removed a slash behind ``SET_CLEAR`` MACRO (#206 <https://github.com/ros2/rcl/issues/206>)
    * Signed-off-by: jwang <mailto:jing.j.wang@intel.com>
  * Changed rmw result validation string to not ever return nullptr (#193 <https://github.com/ros2/rcl/issues/193>)
    * Signed-off-by: Ethan Gao <mailto:ethan.gao@linux.intel.com>
  * Clarified that ``rcl_take_response()`` populates the ``request_header`` (#205 <https://github.com/ros2/rcl/issues/205>)
  * Removed a now obsolete connext workaround (#203 <https://github.com/ros2/rcl/issues/203>)
  * Fixed a potential segmentation fault due to a nullptr dereference (#202 <https://github.com/ros2/rcl/issues/202>)
    * Signed-off-by: Ethan Gao <mailto:ethan.gao@linux.intel.com>
  * Contributors: Dirk Thomas, Ethan Gao, Karsten Knese, Michael Carroll, Mikael Arguedas, Shane Loretz, William Woodall, dhood, jwang11, serge-nikulin
skyegalaxy pushed a commit to irobot-ros/rcl that referenced this pull request Mar 12, 2025
@alsora @clalancette
New Intra-Process Communication (ros2#778)
8525ee2 
* basic ipc implementation from alsora/new_ipc_proposal

Signed-off-by: alberto <alberto.soragna@gmail.com>

better use of node_topic create subscription

Signed-off-by: alberto <alberto.soragna@gmail.com>

added intra process manager test

Signed-off-by: alberto <alberto.soragna@gmail.com>

fixed ring buffer and added test

Signed-off-by: alberto <alberto.soragna@gmail.com>

added intra process buffer test

Signed-off-by: alberto <alberto.soragna@gmail.com>

added intra process buffer test

Signed-off-by: alberto <alberto.soragna@gmail.com>

Signed-off-by: alberto <alberto.soragna@gmail.com>

removed intra-process methods from subscription base

Signed-off-by: alberto <alberto.soragna@gmail.com>

using lock_guard instead of unique_lock, renamed var without camel case

Signed-off-by: alberto <alberto.soragna@gmail.com>

using unordered set and references in intra process manager

Signed-off-by: alberto <alberto.soragna@gmail.com>

subscription intra-process does not depend anymore on subscription, but has a copy of the callback

Signed-off-by: alberto <alberto.soragna@gmail.com>

changed buffer API to use rvo

Signed-off-by: Alberto <alberto.soragna@gmail.com>

avoid copying shared_ptr

Signed-off-by: alberto <alberto.soragna@gmail.com>

revert not needed changes to create_subscription

Signed-off-by: alberto <alberto.soragna@gmail.com>

updated tests according to new buffer APIs

Signed-off-by: alberto <alberto.soragna@gmail.com>

updated types in ring buffer implementation avoid using uint32_t

Signed-off-by: alberto <alberto.soragna@gmail.com>

using unique ptr for buffers in subscription_intra_process

Signed-off-by: alberto <alberto.soragna@gmail.com>

added missing std::move in subscription_intra_process constructor

Signed-off-by: alberto <alberto.soragna@gmail.com>

use consisting names for ring_buffer_implementation members

Signed-off-by: alberto <alberto.soragna@gmail.com>

addressing typos, one-liners and similar from ivanpauno review

Signed-off-by: alberto <alberto.soragna@gmail.com>

moved subscription_intra_process_base to its own files and moved non templated method from derived class

Signed-off-by: alberto <alberto.soragna@gmail.com>

removed forward declarations, fixed include subscription_intra_process_base

Signed-off-by: alberto <alberto.soragna@gmail.com>

removed member variable from do_intra_process_publish signature

Signed-off-by: alberto <alberto.soragna@gmail.com>

declare public before private in intra_process_manager_impl

Signed-off-by: alberto <alberto.soragna@gmail.com>

made matches_any_intra_process_publishers const

Signed-off-by: alberto <alberto.soragna@gmail.com>

using const reference in get_all_matching_publishers

Signed-off-by: alberto <alberto.soragna@gmail.com>

added deleter and alloc templates in intra_process_buffer

Signed-off-by: alberto <alberto.soragna@gmail.com>

added RCLCPP_WARN to intra_process_manager_impl

Signed-off-by: alberto <alberto.soragna@gmail.com>

passing context from node to subscription_intra_process

Signed-off-by: alberto <alberto.soragna@gmail.com>

using allocators in intra_process_manager

Signed-off-by: alberto <alberto.soragna@gmail.com>

use size_t instead of int in ring buffer indices

Signed-off-by: alberto <alberto.soragna@gmail.com>

creating buffer inside subscription_intra_process constructor

Signed-off-by: alberto <alberto.soragna@gmail.com>

fix lint errors

Signed-off-by: alberto <alberto.soragna@gmail.com>

throw error if trying to dequeue when buffer empty; remove duplicated methods in intra_process_buffer

Signed-off-by: alberto <alberto.soragna@gmail.com>

added todo for creating an rmw function for checking qos compatibility

Signed-off-by: alberto <alberto.soragna@gmail.com>

test fixes

Signed-off-by: alberto <alberto.soragna@gmail.com>

refactored intra_process_manager, removed ipm impl

Signed-off-by: alberto <alberto.soragna@gmail.com>

added mutex in intra_process_manager add_* methods

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

added allocator to intra_process_buffer

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

added invalid intra_process qos test for subscription

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

throw error if history size is 0 with keep last and ipc

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

using allocator when creating unique_ptr from shared_ptr

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

adding deleter template argument to intra_process buffer

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

fix linter

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

throw error with callbackT different from messageT

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

updated deleter template argument in subscription factory

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

Fix typo in test fixture tear down method name (ros2#787)

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Add free function for creating service clients (ros2#788)

Equivalent to the free function for creating a service.
Resolves ros2#768

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Cmake infrastructure for creating components (ros2#784)

*cmake macro to create components for libraries with multiple nodes

Signed-off-by: Siddharth Kucheria <kucheria@usc.edu>

Allow registering multiple on_parameters_set_callback (ros2#772)

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

fix for multiple nodes not being recognized (ros2#790)

Signed-off-by: Siddharth Kucheria <kucheria@usc.edu>

Remove non-package from ament_target_dependencies() (ros2#793)

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

fix linter issue (ros2#795)

Signed-off-by: Siddharth Kucheria <kucheria@usc.edu>

Make TimeSource ignore use_sim_time events coming from other nodes. (ros2#799)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

passing deleter template parameter

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

small fixes for failing tests

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

fixed imports in test_intra_process_manager

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

using RCLCPP_SMART_PTR_ALIASES_ONLY and RCLCPP_PUBLIC macros

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

added RCLCPP_PUBLIC macros and virtual destructor to sub intra_process base

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

added unique_ptr alias to macros

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

updated test_intra_process_manager.cpp

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

remove mock msgs from rclcpp (ros2#800)

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Add line break after first open paren in multiline function call (ros2#785)

* 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 ament/ament_lint#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>

Adapt to '--ros-args ... [--]'-based ROS args extraction (ros2#816)

* Use --ros-args to deal with node arguments in rclcpp.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Document implicit --ros-args flag in NodeOptions::arguments().

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Add missing size_t to int cast.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Only add implicit --ros-args flag if not present already.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Add some rclcpp::NodeOptions test coverage.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Address peer review comments.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Please cpplint and uncrustify.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

Guard against making multiple result requests for a goal handle (ros2#808)

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 ros2#783

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Explain return value of spin_until_future_complete (ros2#792)

Signed-off-by: Dan Rose <dan@digilabs.io>

Allow passing logger by const ref (ros2#820)

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

Delete unnecessary call for get_node_by_group (ros2#823)

Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

Fix get_node_interfaces functions taking a pointer (ros2#821)

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

add callback group as member variable and constructor arg (ros2#811)

Signed-off-by: bpwilcox <bpwilcox@eng.ucsd.edu>

remove callback group as member variable

Wrap documentation examples in code blocks (ros2#830)

This makes the code examples easier to read in the generated documentation.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

Crash in callback group pointer vector iterator (ros2#814)

Signed-off-by: Guillaume Autran <gautran@clearpath.ai>

add mutex in add/remove_node and wait_for_work to protect concurrent use/change of memory_strategy_ (ros2#837)

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

Fix hang with timers in MultiThreadedExecutor (ros2#835) (ros2#836)

Signed-off-by: Todd Malsbary <todd.malsbary@intel.com>

Use of -r/--remap flags where appropriate. (ros2#834)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

Force explicit --ros-args in NodeOptions::arguments(). (ros2#845)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

Fail on invalid and unknown ROS specific arguments (ros2#842)

* Fail on invalid and unknown ROS specific arguments.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Revert changes to utilities.hpp in rclcpp

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

* Fully revert change to utilities.hpp

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>

Fix typo in deprecated warning. (ros2#848)

"it's" instead of its

Signed-off-by: Luca Della Vedova <luca@openrobotics.org>

Add throwing parameter name if parameter is not set (ros2#833)

* added throwing parameter name if parameter is not set

Signed-off-by: Alex <cvbn127@gmail.com>
Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>

check valid timer handler 1st to reduce the time window for scan. (ros2#841)

Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

remove features and related code which were deprecated in dashing (ros2#852)

Signed-off-by: William Woodall <william@osrfoundation.org>

reset error message before setting a new one, embed the original one (ros2#854)

Signed-off-by: Dirk Thomas <dirk-thomas@users.noreply.github.com>

restored virtual destructor in publisher_base

Signed-off-by: Soragna, Alberto <alberto.soragna@gmail.com>

* fixup a few things after rebase

Signed-off-by: William Woodall <william@osrfoundation.org>

* refactor some API's and get code compiling again

Signed-off-by: William Woodall <william@osrfoundation.org>

* docs and style changes (whitespace)

Signed-off-by: William Woodall <william@osrfoundation.org>

* move new intra process internals into experimental namespace

Signed-off-by: William Woodall <william@osrfoundation.org>

* uncrustify

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix issues with LoanedMessages after rebase

Signed-off-by: William Woodall <william@osrfoundation.org>

* more fixups

Signed-off-by: William Woodall <william@osrfoundation.org>

* readd logic for avoiding in compatible QoS

Signed-off-by: William Woodall <william@osrfoundation.org>

* avoid an error when intra process is disabled

Signed-off-by: William Woodall <william@osrfoundation.org>

* change intra process to preserve pointer in cyclic_pipeline

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix issue matching topics in intra process

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix some issues with the tests after latest behavior change

Signed-off-by: William Woodall <william@osrfoundation.org>

* address review feedback

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix the initialization order

Signed-off-by: William Woodall <william@osrfoundation.org>

* avoid possible loss of data warning

Signed-off-by: William Woodall <william@osrfoundation.org>

* more fixes related to initialization

Signed-off-by: William Woodall <william@osrfoundation.org>

* fix use of custom allocators

Signed-off-by: William Woodall <william@osrfoundation.org>
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