first try of node like something

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

rclcpp/CHANGELOG.rst

@@ -2,16 +2,6 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.7.3 (2019-05-20)
-------------------
-* Fixed misspelling, volitile -> volatile (`#724 <https://github.com/ros2/rclcpp/issues/724>`_), and then fixed that since it is a C++ keyword to be ``durability_volatile`` (`#725 <https://github.com/ros2/rclcpp/issues/725>`_)
-* Fixed a clang warning (`#723 <https://github.com/ros2/rclcpp/issues/723>`_)
-* Added ``on_parameter_event`` static method to the ``AsyncParametersClient`` (`#688 <https://github.com/ros2/rclcpp/issues/688>`_)
-* Added a guard against ``ParameterNotDeclaredException`` throwing from within the parameter service callbacks. (`#718 <https://github.com/ros2/rclcpp/issues/718>`_)
-* Added missing template functionality to lifecycle_node. (`#707 <https://github.com/ros2/rclcpp/issues/707>`_)
-* Fixed heap-use-after-free and memory leaks reported from ``test_node.cpp`` (`#719 <https://github.com/ros2/rclcpp/issues/719>`_)
-* Contributors: Alberto Soragna, Dirk Thomas, Emerson Knapp, Jacob Perron, Michael Jeronimo, Prajakta Gokhale
-
 0.7.2 (2019-05-08)
 ------------------
 * Added new way to specify QoS settings for publishers and subscriptions. (`#713 <https://github.com/ros2/rclcpp/issues/713>`_)

rclcpp/CMakeLists.txt

@@ -85,19 +85,40 @@ configure_file(
   COPYONLY
 )
 # generate header with logging macros
-set(python_code
+set(python_code_logging
   "import em"
   "em.invoke(['-o', 'include/rclcpp/logging.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/logging.hpp.em'])")
-string(REPLACE ";" "$<SEMICOLON>" python_code "${python_code}")
+string(REPLACE ";" "$<SEMICOLON>" python_code_logging "${python_code_logging}")
 add_custom_command(OUTPUT include/rclcpp/logging.hpp
   COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp"
-  COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_code}"
+  COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_code_logging}"
   DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/logging.hpp.em.watch"
   COMMENT "Expanding logging.hpp.em"
   VERBATIM
 )
 list(APPEND ${PROJECT_NAME}_SRCS
   include/rclcpp/logging.hpp)
+
+# "watch" template for changes
+configure_file(
+  "resource/interface_traits.hpp.em"
+  "interface_traits.hpp.em.watch"
+  COPYONLY
+)
+set(python_code_interface_traits
+  "import em"
+  "em.invoke(['-o', 'include/rclcpp/node_interfaces/interface_traits.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/interface_traits.hpp.em'])")
+string(REPLACE ";" "$<SEMICOLON>" python_code_interface_traits "${python_code_interface_traits}")
+add_custom_command(OUTPUT include/rclcpp/node_interfaces/interface_traits.hpp
+  COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp/node_interfaces"
+  COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_code_interface_traits}"
+  DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/interface_traits.hpp.em.watch"
+  COMMENT "Expanding interfae_traits.hpp.em"
+  VERBATIM
+)
+list(APPEND ${PROJECT_NAME}_SRCS
+  include/rclcpp/node_interfaces/interface_traits.hpp)
+
 include_directories("${CMAKE_CURRENT_BINARY_DIR}/include")
 
 add_library(${PROJECT_NAME}
@@ -242,13 +263,6 @@ if(BUILD_TESTING)
     )
     target_link_libraries(test_node_global_args ${PROJECT_NAME})
   endif()
-  ament_add_gtest(test_parameter_client test/test_parameter_client.cpp)
-  if(TARGET test_parameter_client)
-    ament_target_dependencies(test_parameter_client
-      "rcl_interfaces"
-    )
-    target_link_libraries(test_parameter_client ${PROJECT_NAME})
-  endif()
   ament_add_gtest(test_parameter_events_filter test/test_parameter_events_filter.cpp)
   if(TARGET test_parameter_events_filter)
     ament_target_dependencies(test_parameter_events_filter
@@ -455,6 +469,14 @@ if(BUILD_TESTING)
     target_link_libraries(test_init ${PROJECT_NAME})
   endif()
 
+  ament_add_gtest(test_interface_traits test/test_interface_traits.cpp
+    APPEND_LIBRARY_DIRS "${append_library_dirs}")
+  if(TARGET test_interface_traits)
+    ament_target_dependencies(test_interface_traits
+      "rcl")
+    target_link_libraries(test_interface_traits ${PROJECT_NAME})
+  endif()
+
   ament_add_gtest(test_multi_threaded_executor test/executors/test_multi_threaded_executor.cpp
     APPEND_LIBRARY_DIRS "${append_library_dirs}")
   if(TARGET test_multi_threaded_executor)

rclcpp/include/rclcpp/node.hpp

@@ -940,6 +940,7 @@ public:
   void
   register_param_change_callback(CallbackT && callback);
 
+
   /// Get the fully-qualified names of all available nodes.
   /**
    * The fully-qualified name includes the local namespace and name of the node.

rclcpp/include/rclcpp/parameter_client.hpp

@@ -120,36 +120,9 @@ public:
     const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
       rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
   ))
-  {
-    return this->on_parameter_event(
-      this->node_topics_interface_,
-      callback,
-      qos,
-      options);
-  }
-
-  /**
-   * The NodeT type only needs to have a method called get_node_topics_interface()
-   * which returns a shared_ptr to a NodeTopicsInterface, or be a
-   * NodeTopicsInterface pointer itself.
-   */
-  template<
-    typename CallbackT,
-    typename NodeT,
-    typename AllocatorT = std::allocator<void>>
-  static typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
-  on_parameter_event(
-    NodeT && node,
-    CallbackT && callback,
-    const rclcpp::QoS & qos = (
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default))
-    ),
-    const rclcpp::SubscriptionOptionsWithAllocator<AllocatorT> & options = (
-      rclcpp::SubscriptionOptionsWithAllocator<AllocatorT>()
-  ))
   {
     return rclcpp::create_subscription<rcl_interfaces::msg::ParameterEvent>(
-      node,
+      this->node_topics_interface_,
       "parameter_events",
       qos,
       std::forward<CallbackT>(callback),
@@ -293,26 +266,7 @@ public:
   typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
   on_parameter_event(CallbackT && callback)
   {
-    return async_parameters_client_->on_parameter_event(
-      std::forward<CallbackT>(callback));
-  }
-
-  /**
-   * The NodeT type only needs to have a method called get_node_topics_interface()
-   * which returns a shared_ptr to a NodeTopicsInterface, or be a
-   * NodeTopicsInterface pointer itself.
-   */
-  template<
-    typename CallbackT,
-    typename NodeT>
-  static typename rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr
-  on_parameter_event(
-    NodeT && node,
-    CallbackT && callback)
-  {
-    return AsyncParametersClient::on_parameter_event(
-      node,
-      std::forward<CallbackT>(callback));
+    return async_parameters_client_->on_parameter_event(std::forward<CallbackT>(callback));
   }
 
   RCLCPP_PUBLIC

rclcpp/include/rclcpp/qos.hpp

@@ -105,11 +105,8 @@ public:
   durability(rmw_qos_durability_policy_t durability);
 
   /// Set the durability setting to volatile.
-  /**
-    * Note that this cannot be named `volatile` because it is a C++ keyword.
-    */
   QoS &
-  durability_volatile();
+  volitile();
 
   /// Set the durability setting to transient local.
   QoS &

rclcpp/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp</name>
-  <version>0.7.3</version>
+  <version>0.7.2</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp/resource/interface_traits.hpp.em

@@ -0,0 +1,77 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RCLCPP__NODE_INTERFACES__INTERFACE_TRAITS_HPP_
+#define RCLCPP__NODE_INTERFACES__INTERFACE_TRAITS_HPP_
+
+#include <functional>
+#include <type_traits>
+
+@{
+node_interfaces = [
+  'node_base_interface',
+  'node_clock_interface',
+  'node_graph_interface',
+  'node_logging_interface',
+  'node_parameters_interface',
+  'node_services_interface',
+  'node_time_source_interface',
+  'node_timers_interface',
+  'node_topics_interface',
+  'node_waitables_interface',
+]
+
+node_interface_types = [
+  'NodeBaseInterface',
+  'NodeClockInterface',
+  'NodeGraphInterface',
+  'NodeLoggingInterface',
+  'NodeParametersInterface',
+  'NodeServicesInterface',
+  'NodeTimeSourceInterface',
+  'NodeTimersInterface',
+  'NodeTopicsInterface',
+  'NodeWaitablesInterface',
+]
+
+assert (len(node_interfaces) == len(node_interface_types))
+}@
+
+@[for interface_ in node_interfaces]@
+#include "rclcpp/node_interfaces/@(interface_).hpp"
+@[end for]@
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+@[for (interface_, type_) in zip(node_interfaces, node_interface_types)]@
+using @(interface_)_getter_t = std::shared_ptr<rclcpp::node_interfaces::@(type_)>;
+
+template<class T, typename = void>
+struct has_@(interface_) : std::false_type
+{};
+
+template<class T>
+struct has_@(interface_)<
+  T, typename std::enable_if<
+    std::is_same<
+      @(interface_)_getter_t, decltype(std::declval<T>().get_@(interface_)())>::value>::type> : std::true_type
+{};
+
+@[end for]@
+}  // namespace node_interfaces
+}  // namespace rclcpp
+#endif  // RCLCPP__NODE_INTERFACES__INTERFACE_TRAITS_HPP_

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -493,10 +493,10 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
     // assumption: the parameter to be undeclared should be in the parameter infos map
     assert(it != parameters_.end());
     if (it != parameters_.end()) {
-      // Update the parameter event message and remove it.
+      // Remove it and update the parameter event message.
+      parameters_.erase(it);
       parameter_event_msg.deleted_parameters.push_back(
         rclcpp::Parameter(it->first, it->second.value).to_parameter_msg());
-      parameters_.erase(it);
     }
   }
 

rclcpp/src/rclcpp/node_options.cpp

@@ -44,9 +44,6 @@ rcl_node_options_t_destructor(rcl_node_options_t * node_options)
         "failed to finalize rcl node options: %s", rcl_get_error_string().str);
       rcl_reset_error();
     }
-
-    delete node_options;
-    node_options = nullptr;
   }
 }
 }  // namespace detail

rclcpp/src/rclcpp/parameter_service.cpp

@@ -57,15 +57,11 @@ ParameterService::ParameterService(
       const std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Request> request,
       std::shared_ptr<rcl_interfaces::srv::GetParameterTypes::Response> response)
     {
-      try {
-        auto types = node_params->get_parameter_types(request->names);
-        std::transform(types.cbegin(), types.cend(),
-        std::back_inserter(response->types), [](const uint8_t & type) {
-          return static_cast<rclcpp::ParameterType>(type);
-        });
-      } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
-        RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to get parameter types: %s", ex.what());
-      }
+      auto types = node_params->get_parameter_types(request->names);
+      std::transform(types.cbegin(), types.cend(),
+      std::back_inserter(response->types), [](const uint8_t & type) {
+        return static_cast<rclcpp::ParameterType>(type);
+      });
     },
     qos_profile, nullptr);
 
@@ -77,20 +73,12 @@ ParameterService::ParameterService(
       const std::shared_ptr<rcl_interfaces::srv::SetParameters::Request> request,
       std::shared_ptr<rcl_interfaces::srv::SetParameters::Response> response)
     {
-      // Set parameters one-by-one, since there's no way to return a partial result if
-      // set_parameters() fails.
-      auto result = rcl_interfaces::msg::SetParametersResult();
+      std::vector<rclcpp::Parameter> pvariants;
       for (auto & p : request->parameters) {
-        try {
-          result = node_params->set_parameters_atomically(
-            {rclcpp::Parameter::from_parameter_msg(p)});
-        } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
-          RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to set parameter: %s", ex.what());
-          result.successful = false;
-          result.reason = ex.what();
-        }
-        response->results.push_back(result);
+        pvariants.push_back(rclcpp::Parameter::from_parameter_msg(p));
       }
+      auto results = node_params->set_parameters(pvariants);
+      response->results = results;
     },
     qos_profile, nullptr);
 
@@ -108,15 +96,8 @@ ParameterService::ParameterService(
       [](const rcl_interfaces::msg::Parameter & p) {
         return rclcpp::Parameter::from_parameter_msg(p);
       });
-      try {
-        auto result = node_params->set_parameters_atomically(pvariants);
-        response->result = result;
-      } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
-        RCLCPP_WARN(
-          rclcpp::get_logger("rclcpp"), "Failed to set parameters atomically: %s", ex.what());
-        response->result.successful = false;
-        response->result.reason = "One or more parameters wer not declared before setting";
-      }
+      auto result = node_params->set_parameters_atomically(pvariants);
+      response->result = result;
     },
     qos_profile, nullptr);
 
@@ -128,12 +109,8 @@ ParameterService::ParameterService(
       const std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Request> request,
       std::shared_ptr<rcl_interfaces::srv::DescribeParameters::Response> response)
     {
-      try {
-        auto descriptors = node_params->describe_parameters(request->names);
-        response->descriptors = descriptors;
-      } catch (const rclcpp::exceptions::ParameterNotDeclaredException & ex) {
-        RCLCPP_WARN(rclcpp::get_logger("rclcpp"), "Failed to describe parameters: %s", ex.what());
-      }
+      auto descriptors = node_params->describe_parameters(request->names);
+      response->descriptors = descriptors;
     },
     qos_profile, nullptr);
 

rclcpp/src/rclcpp/qos.cpp

@@ -120,7 +120,7 @@ QoS::durability(rmw_qos_durability_policy_t durability)
 }
 
 QoS &
-QoS::durability_volatile()
+QoS::volitile()
 {
   return this->durability(RMW_QOS_POLICY_DURABILITY_VOLATILE);
 }

rclcpp/src/rclcpp/time_source.cpp

@@ -103,9 +103,15 @@ void TimeSource::attachNode(
   }
 
   // TODO(tfoote) use parameters interface not subscribe to events via topic ticketed #609
-  parameter_subscription_ = rclcpp::AsyncParametersClient::on_parameter_event(
+  parameter_client_ = std::make_shared<rclcpp::AsyncParametersClient>(
+    node_base_,
     node_topics_,
-    std::bind(&TimeSource::on_parameter_event, this, std::placeholders::_1));
+    node_graph_,
+    node_services_
+  );
+  parameter_subscription_ =
+    parameter_client_->on_parameter_event(std::bind(&TimeSource::on_parameter_event,
+      this, std::placeholders::_1));
 }
 
 void TimeSource::detachNode()

rclcpp/test/test_interface_traits.cpp

@@ -0,0 +1,51 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include "rclcpp/node_interfaces/interface_traits.hpp"
+#include "rclcpp/node_interfaces/node_base.hpp"
+#include "rclcpp/node.hpp"
+
+class MyNode
+{
+public:
+  std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> get_node_base_interface() const
+  {
+    return std::make_shared<rclcpp::node_interfaces::NodeBase>("my_node_name", "my_node_namespace", nullptr, rclcpp::NodeOptions());
+  }
+};
+
+class WrongNode
+{
+public:
+  std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface> not_get_node_base_interface()
+  {
+    return nullptr;
+  }
+};
+
+template<class T, typename std::enable_if<rclcpp::node_interfaces::has_node_base_interface<T>::value>::type* = nullptr>
+void get_node_name(const T & nodelike) {
+  ASSERT_STREQ("my_node_name", nodelike.get_node_base_interface()->get_name());
+}
+
+TEST(TestInterfaceTraits, has_node_base_interface) {
+  ASSERT_TRUE(rclcpp::node_interfaces::has_node_base_interface<MyNode>::value);
+  ASSERT_FALSE(rclcpp::node_interfaces::has_node_base_interface<WrongNode>::value);
+  ASSERT_TRUE(rclcpp::node_interfaces::has_node_base_interface<rclcpp::Node>::value);
+
+  get_node_name(MyNode());
+}
+

rclcpp/test/test_intra_process_manager.cpp

@@ -37,9 +37,6 @@ public:
   PublisherBase()
   : mock_topic_name(""), mock_queue_size(0) {}
 
-  virtual ~PublisherBase()
-  {}
-
   const char * get_topic_name() const
   {
     return mock_topic_name.c_str();

rclcpp/test/test_parameter_client.cpp

@@ -1,155 +0,0 @@
-// Copyright 2019 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <gtest/gtest.h>
-
-#include <string>
-#include <memory>
-
-#include "rclcpp/rclcpp.hpp"
-
-#include "rcl_interfaces/msg/parameter_event.hpp"
-
-class TestParameterClient : public ::testing::Test
-{
-public:
-  void OnMessage(const rcl_interfaces::msg::ParameterEvent::SharedPtr event)
-  {
-    (void)event;
-  }
-
-protected:
-  static void SetUpTestCase()
-  {
-    rclcpp::init(0, nullptr);
-  }
-
-  void SetUp()
-  {
-    node = std::make_shared<rclcpp::Node>("test_parameter_client", "/ns");
-  }
-
-  void TearDown()
-  {
-    node.reset();
-  }
-
-  rclcpp::Node::SharedPtr node;
-};
-
-/*
-   Testing async parameter client construction and destruction.
- */
-TEST_F(TestParameterClient, async_construction_and_destruction) {
-  {
-    auto asynchronous_client = std::make_shared<rclcpp::AsyncParametersClient>(node);
-    (void)asynchronous_client;
-  }
-
-  {
-    auto asynchronous_client = std::make_shared<rclcpp::AsyncParametersClient>(
-      node->get_node_base_interface(),
-      node->get_node_topics_interface(),
-      node->get_node_graph_interface(),
-      node->get_node_services_interface());
-    (void)asynchronous_client;
-  }
-
-  {
-    ASSERT_THROW({
-      std::make_shared<rclcpp::AsyncParametersClient>(node, "invalid_remote_node?");
-    }, rclcpp::exceptions::InvalidServiceNameError);
-  }
-}
-
-/*
-   Testing sync parameter client construction and destruction.
- */
-TEST_F(TestParameterClient, sync_construction_and_destruction) {
-  {
-    auto synchronous_client = std::make_shared<rclcpp::SyncParametersClient>(node);
-    (void)synchronous_client;
-  }
-
-  {
-    auto synchronous_client = std::make_shared<rclcpp::SyncParametersClient>(
-      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
-      node);
-    (void)synchronous_client;
-  }
-
-  {
-    auto synchronous_client = std::make_shared<rclcpp::SyncParametersClient>(
-      std::make_shared<rclcpp::executors::SingleThreadedExecutor>(),
-      node->get_node_base_interface(),
-      node->get_node_topics_interface(),
-      node->get_node_graph_interface(),
-      node->get_node_services_interface());
-    (void)synchronous_client;
-  }
-
-  {
-    ASSERT_THROW({
-      std::make_shared<rclcpp::SyncParametersClient>(node, "invalid_remote_node?");
-    }, rclcpp::exceptions::InvalidServiceNameError);
-  }
-}
-
-/*
-   Testing different methods for parameter event subscription from asynchronous clients.
- */
-TEST_F(TestParameterClient, async_parameter_event_subscription) {
-  auto callback = std::bind(&TestParameterClient::OnMessage, this, std::placeholders::_1);
-  {
-    auto asynchronous_client = std::make_shared<rclcpp::AsyncParametersClient>(node);
-    auto event_sub = asynchronous_client->on_parameter_event(callback);
-    (void)event_sub;
-  }
-
-  {
-    auto event_sub = rclcpp::AsyncParametersClient::on_parameter_event(node, callback);
-    (void)event_sub;
-  }
-
-  {
-    auto event_sub = rclcpp::AsyncParametersClient::on_parameter_event(
-      node->get_node_topics_interface(),
-      callback);
-    (void)event_sub;
-  }
-}
-
-/*
-   Testing different methods for parameter event subscription from synchronous clients.
- */
-TEST_F(TestParameterClient, sync_parameter_event_subscription) {
-  auto callback = std::bind(&TestParameterClient::OnMessage, this, std::placeholders::_1);
-  {
-    auto synchronous_client = std::make_shared<rclcpp::SyncParametersClient>(node);
-    auto event_sub = synchronous_client->on_parameter_event(callback);
-    (void)event_sub;
-  }
-
-  {
-    auto event_sub = rclcpp::SyncParametersClient::on_parameter_event(node, callback);
-    (void)event_sub;
-  }
-
-  {
-    auto event_sub = rclcpp::SyncParametersClient::on_parameter_event(
-      node->get_node_topics_interface(),
-      callback);
-    (void)event_sub;
-  }
-}

rclcpp_action/CHANGELOG.rst

@@ -3,9 +3,6 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-0.7.3 (2019-05-20)
-------------------
-
 0.7.2 (2019-05-08)
 ------------------
 * Added return code to CancelGoal service response. (`#710 <https://github.com/ros2/rclcpp/issues/710>`_)

rclcpp_action/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_action</name>
-  <version>0.7.3</version>
+  <version>0.7.2</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp_components/CHANGELOG.rst

@@ -2,9 +2,6 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-0.7.3 (2019-05-20)
-------------------
-
 0.7.2 (2019-05-08)
 ------------------
 * Updated to support changes to ``Node::get_node_names()``. (`#698 <https://github.com/ros2/rclcpp/issues/698>`_)

rclcpp_components/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_components</name>
-  <version>0.7.3</version>
+  <version>0.7.2</version>
   <description>Package containing tools for dynamically loadable components</description>
   <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
   <license>Apache License 2.0</license>

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,11 +3,6 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
-0.7.3 (2019-05-20)
-------------------
-* Added missing template functionality to lifecycle_node. (`#707 <https://github.com/ros2/rclcpp/issues/707>`_)
-* Contributors: Michael Jeronimo
-
 0.7.2 (2019-05-08)
 ------------------
 * Added new way to specify QoS settings for publishers and subscriptions. (`#713 <https://github.com/ros2/rclcpp/issues/713>`_)

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -15,11 +15,10 @@
 #ifndef RCLCPP_LIFECYCLE__LIFECYCLE_NODE_HPP_
 #define RCLCPP_LIFECYCLE__LIFECYCLE_NODE_HPP_
 
-#include <map>
-#include <memory>
 #include <string>
-#include <utility>
+#include <map>
 #include <vector>
+#include <memory>
 
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
@@ -334,100 +333,15 @@ public:
     const rmw_qos_profile_t & qos_profile = rmw_qos_profile_services_default,
     rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr);
 
-  /// Declare and initialize a parameter, return the effective value.
-  /**
-   * \sa rclcpp::Node::declare_parameter
-   */
-  RCLCPP_LIFECYCLE_PUBLIC
-  const rclcpp::ParameterValue &
-  declare_parameter(
-    const std::string & name,
-    const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor());
-
-  /// Declare and initialize a parameter with a type.
-  /**
-   * \sa rclcpp::Node::declare_parameter
-   */
-  template<typename ParameterT>
-  auto
-  declare_parameter(
-    const std::string & name,
-    const ParameterT & default_value,
-    const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
-    rcl_interfaces::msg::ParameterDescriptor());
-
-  /// Declare and initialize several parameters with the same namespace and type.
-  /**
-   * \sa rclcpp::Node::declare_parameters
-   */
-  template<typename ParameterT>
-  std::vector<ParameterT>
-  declare_parameters(
-    const std::string & namespace_,
-    const std::map<std::string, ParameterT> & parameters);
-
-  /// Declare and initialize several parameters with the same namespace and type.
-  /**
-   * \sa rclcpp::Node::declare_parameters
-   */
-  template<typename ParameterT>
-  std::vector<ParameterT>
-  declare_parameters(
-    const std::string & namespace_,
-    const std::map<
-      std::string,
-      std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
-    > & parameters);
-
-  /// Undeclare a previously declared parameter.
-  /**
-   * \sa rclcpp::Node::undeclare_parameter
-   */
-  RCLCPP_LIFECYCLE_PUBLIC
-  void
-  undeclare_parameter(const std::string & name);
-
-  /// Return true if a given parameter is declared.
-  /**
-   * \sa rclcpp::Node::has_parameter
-   */
-  RCLCPP_LIFECYCLE_PUBLIC
-  bool
-  has_parameter(const std::string & name) const;
-
-  /// Set a single parameter.
-  /**
-   * \sa rclcpp::Node::set_parameter
-   */
-  RCLCPP_LIFECYCLE_PUBLIC
-  rcl_interfaces::msg::SetParametersResult
-  set_parameter(const rclcpp::Parameter & parameter);
-
-  /// Set one or more parameters, one at a time.
-  /**
-   * \sa rclcpp::Node::set_parameters
-   */
   RCLCPP_LIFECYCLE_PUBLIC
   std::vector<rcl_interfaces::msg::SetParametersResult>
   set_parameters(const std::vector<rclcpp::Parameter> & parameters);
 
-  /// Set one or more parameters, all at once.
-  /**
-   * \sa rclcpp::Node::set_parameters_atomically
-   */
   RCLCPP_LIFECYCLE_PUBLIC
   rcl_interfaces::msg::SetParametersResult
   set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
 
-  /// Set one parameter, unless that parameter has already been set.
-  /**
-   * \sa rclcpp::Node::set_parameter_if_not_set
-   */
   template<typename ParameterT>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use declare_parameter() instead")]]
   void
   set_parameter_if_not_set(
     const std::string & name,
@@ -435,46 +349,54 @@ public:
 
   /// Set a map of parameters with the same prefix.
   /**
-   * \sa rclcpp::Node::set_parameters_if_not_set
+   * For each key in the map, a parameter with a name of "name.key" will be set
+   * to the value in the map.
+   *
+   * \param[in] name The prefix of the parameters to set.
+   * \param[in] values The parameters to set in the given prefix.
    */
   template<typename MapValueT>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use declare_parameters() instead")]]
   void
   set_parameters_if_not_set(
     const std::string & name,
     const std::map<std::string, MapValueT> & values);
 
-  /// Return the parameter by the given name.
-  /**
-   * \sa rclcpp::Node::get_parameter
-   */
+  RCLCPP_LIFECYCLE_PUBLIC
+  std::vector<rclcpp::Parameter>
+  get_parameters(const std::vector<std::string> & names) const;
+
   RCLCPP_LIFECYCLE_PUBLIC
   rclcpp::Parameter
   get_parameter(const std::string & name) const;
 
-  /// Get the value of a parameter by the given name, and return true if it was set.
-  /**
-   * \sa rclcpp::Node::get_parameter
-   */
   RCLCPP_LIFECYCLE_PUBLIC
   bool
   get_parameter(
     const std::string & name,
     rclcpp::Parameter & parameter) const;
 
-  /// Get the value of a parameter by the given name, and return true if it was set.
-  /**
-   * \sa rclcpp::Node::get_parameter
-   */
   template<typename ParameterT>
   bool
   get_parameter(const std::string & name, ParameterT & parameter) const;
 
-  /// Get the parameter value, or the "alternative_value" if not set, and assign it to "parameter".
+  /// Assign the value of the map parameter if set into the values argument.
   /**
-   * \sa rclcpp::Node::get_parameter_or
+   * Parameter names that are part of a map are of the form "name.member".
+   * This API gets all parameters that begin with "name", storing them into the
+   * map with the name of the parameter and their value.
+   * If there are no members in the named map, then the "values" argument is not changed.
+   *
+   * \param[in] name The prefix of the parameters to get.
+   * \param[out] values The map of output values, with one std::string,MapValueT
+   *                    per parameter.
+   * \returns true if values was changed, false otherwise
    */
+  template<typename MapValueT>
+  bool
+  get_parameters(
+    const std::string & name,
+    std::map<std::string, MapValueT> & values) const;
+
   template<typename ParameterT>
   bool
   get_parameter_or(
@@ -482,88 +404,42 @@ public:
     ParameterT & value,
     const ParameterT & alternative_value) const;
 
-  /// Return the parameters by the given parameter names.
-  /**
-   * \sa rclcpp::Node::get_parameters
-   */
-  RCLCPP_LIFECYCLE_PUBLIC
-  std::vector<rclcpp::Parameter>
-  get_parameters(const std::vector<std::string> & names) const;
-
-  /// Get the parameter values for all parameters that have a given prefix.
-  /**
-   * \sa rclcpp::Node::get_parameters
-   */
-  template<typename MapValueT>
-  bool
-  get_parameters(
-    const std::string & prefix,
-    std::map<std::string, MapValueT> & values) const;
-
   /// Get the parameter value; if not set, set the "alternative value" and store it in the node.
   /**
-   * \sa rclcpp::Node::get_parameter_or_set
+   * If the parameter is set, then the "value" argument is assigned the value
+   * in the parameter.
+   * If the parameter is not set, then the "value" argument is assigned the "alternative_value",
+   * and the parameter is set to the "alternative_value" on the node.
+   *
+   * \param[in] name The name of the parameter to get.
+   * \param[out] value The output where the value of the parameter should be assigned.
+   * \param[in] alternative_value Value to be stored in output and parameter if the parameter was not set.
    */
   template<typename ParameterT>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use declare_parameter() and it's return value instead")]]
   void
   get_parameter_or_set(
     const std::string & name,
     ParameterT & value,
     const ParameterT & alternative_value);
 
-  /// Return the parameter descriptor for the given parameter name.
-  /**
-   * \sa rclcpp::Node::describe_parameter
-   */
-  RCLCPP_LIFECYCLE_PUBLIC
-  rcl_interfaces::msg::ParameterDescriptor
-  describe_parameter(const std::string & name) const;
-
-  /// Return a vector of parameter descriptors, one for each of the given names.
-  /**
-   * \sa rclcpp::Node::describe_parameters
-   */
   RCLCPP_LIFECYCLE_PUBLIC
   std::vector<rcl_interfaces::msg::ParameterDescriptor>
   describe_parameters(const std::vector<std::string> & names) const;
 
-  /// Return a vector of parameter types, one for each of the given names.
-  /**
-   * \sa rclcpp::Node::get_parameter_types
-   */
   RCLCPP_LIFECYCLE_PUBLIC
   std::vector<uint8_t>
   get_parameter_types(const std::vector<std::string> & names) const;
 
-  /// Return a list of parameters with any of the given prefixes, up to the given depth.
-  /**
-   * \sa rclcpp::Node::list_parameters
-   */
   RCLCPP_LIFECYCLE_PUBLIC
   rcl_interfaces::msg::ListParametersResult
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const;
 
-  using OnParametersSetCallbackType =
-    rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType;
-
-  /// Register a callback to be called anytime a parameter is about to be changed.
-  /**
-   * \sa rclcpp::Node::set_on_parameters_set_callback
-   */
-  RCLCPP_LIFECYCLE_PUBLIC
-  rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType
-  set_on_parameters_set_callback(
-    rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback);
-
   /// Register the callback for parameter changes
   /**
-   * \sa rclcpp::Node::register_param_change_callback
+   * \param[in] callback User defined function which is expected to atomically set parameters.
+   * \note Repeated invocations of this function will overwrite previous callbacks
    */
   template<typename CallbackT>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use set_on_parameters_set_callback() instead")]]
   void
   register_param_change_callback(CallbackT && callback);
 

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp

@@ -223,62 +223,6 @@ LifecycleNode::create_service(
     service_name, std::forward<CallbackT>(callback), qos_profile, group);
 }
 
-template<typename ParameterT>
-auto
-LifecycleNode::declare_parameter(
-  const std::string & name,
-  const ParameterT & default_value,
-  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
-{
-  return this->declare_parameter(
-    name,
-    rclcpp::ParameterValue(default_value),
-    parameter_descriptor
-  ).get<ParameterT>();
-}
-
-template<typename ParameterT>
-std::vector<ParameterT>
-LifecycleNode::declare_parameters(
-  const std::string & namespace_,
-  const std::map<std::string, ParameterT> & parameters)
-{
-  std::vector<ParameterT> result;
-  std::string normalized_namespace = namespace_.empty() ? "" : (namespace_ + ".");
-  std::transform(
-    parameters.begin(), parameters.end(), std::back_inserter(result),
-    [this, &normalized_namespace](auto element) {
-      return this->declare_parameter(normalized_namespace + element.first, element.second);
-    }
-  );
-  return result;
-}
-
-template<typename ParameterT>
-std::vector<ParameterT>
-LifecycleNode::declare_parameters(
-  const std::string & namespace_,
-  const std::map<
-    std::string,
-    std::pair<ParameterT, rcl_interfaces::msg::ParameterDescriptor>
-  > & parameters)
-{
-  std::vector<ParameterT> result;
-  std::string normalized_namespace = namespace_.empty() ? "" : (namespace_ + ".");
-  std::transform(
-    parameters.begin(), parameters.end(), std::back_inserter(result),
-    [this, &normalized_namespace](auto element) {
-      return static_cast<ParameterT>(
-        this->declare_parameter(
-          normalized_namespace + element.first,
-          element.second.first,
-          element.second.second)
-      );
-    }
-  );
-  return result;
-}
-
 template<typename ParameterT>
 bool
 LifecycleNode::get_parameter(const std::string & name, ParameterT & parameter) const
@@ -339,11 +283,11 @@ LifecycleNode::set_parameters_if_not_set(
 template<typename MapValueT>
 bool
 LifecycleNode::get_parameters(
-  const std::string & prefix,
+  const std::string & name,
   std::map<std::string, MapValueT> & values) const
 {
   std::map<std::string, rclcpp::Parameter> params;
-  bool result = node_parameters_->get_parameters_by_prefix(prefix, params);
+  bool result = node_parameters_->get_parameters_by_prefix(name, params);
   if (result) {
     for (const auto & param : params) {
       values[param.first] = param.second.get_value<MapValueT>();

rclcpp_lifecycle/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rclcpp_lifecycle</name>
-  <version>0.7.3</version>
+  <version>0.7.2</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="karsten@osrfoundation.org">Karsten Knese</maintainer>
   <license>Apache License 2.0</license>

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -154,33 +154,6 @@ LifecycleNode::create_callback_group(
   return node_base_->create_callback_group(group_type);
 }
 
-const rclcpp::ParameterValue &
-LifecycleNode::declare_parameter(
-  const std::string & name,
-  const rclcpp::ParameterValue & default_value,
-  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor)
-{
-  return this->node_parameters_->declare_parameter(name, default_value, parameter_descriptor);
-}
-
-void
-LifecycleNode::undeclare_parameter(const std::string & name)
-{
-  this->node_parameters_->undeclare_parameter(name);
-}
-
-bool
-LifecycleNode::has_parameter(const std::string & name) const
-{
-  return this->node_parameters_->has_parameter(name);
-}
-
-rcl_interfaces::msg::SetParametersResult
-LifecycleNode::set_parameter(const rclcpp::Parameter & parameter)
-{
-  return this->set_parameters_atomically({parameter});
-}
-
 bool
 LifecycleNode::group_in_node(rclcpp::callback_group::CallbackGroup::SharedPtr group)
 {
@@ -214,27 +187,13 @@ LifecycleNode::get_parameter(const std::string & name) const
   return node_parameters_->get_parameter(name);
 }
 
-bool
-LifecycleNode::get_parameter(
+bool LifecycleNode::get_parameter(
   const std::string & name,
   rclcpp::Parameter & parameter) const
 {
   return node_parameters_->get_parameter(name, parameter);
 }
 
-rcl_interfaces::msg::ParameterDescriptor
-LifecycleNode::describe_parameter(const std::string & name) const
-{
-  auto result = node_parameters_->describe_parameters({name});
-  if (0 == result.size()) {
-    throw rclcpp::exceptions::ParameterNotDeclaredException(name);
-  }
-  if (result.size() > 1) {
-    throw std::runtime_error("number of described parameters unexpectedly more than one");
-  }
-  return result.front();
-}
-
 std::vector<rcl_interfaces::msg::ParameterDescriptor>
 LifecycleNode::describe_parameters(
   const std::vector<std::string> & names) const
@@ -256,12 +215,6 @@ LifecycleNode::list_parameters(
   return node_parameters_->list_parameters(prefixes, depth);
 }
 
-rclcpp::Node::OnParametersSetCallbackType
-LifecycleNode::set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback)
-{
-  return node_parameters_->set_on_parameters_set_callback(callback);
-}
-
 std::vector<std::string>
 LifecycleNode::get_node_names() const
 {