0.7.12

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

rclcpp/CHANGELOG.rst

@@ -2,6 +2,26 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.12 (2019-12-05)
+-------------------
+
+0.7.11 (2019-10-11)
+-------------------
+* Fix `get_node_*_interface` functions taking a pointer (`#870 <https://github.com/ros2/rclcpp/pull/870>`_).
+* Fix hang with timers in `MultiThreadedExecutor` (`#869 <https://github.com/ros2/rclcpp/pull/869>`_).
+* Contributors: Todd Malsbary, ivanpauno
+
+0.7.10 (2019-09-23)
+-------------------
+
+0.7.9 (2019-09-20)
+------------------
+* add mutex in add/remove_node and wait_for_work to protect concurrent use/change of memory_strategy\_ (`#837 <https://github.com/ros2/rclcpp/issues/837>`_) (`#857 <https://github.com/ros2/rclcpp/issues/857>`_)
+* Contributors: Zachary Michaels
+
+0.7.8 (2019-09-06)
+------------------
+
 0.7.7 (2019-07-31)
 ------------------
 * Enabled the creation of a parameter YAML file which is applied to each node. (`#805 <https://github.com/ros2/rclcpp/issues/805>`_)

rclcpp/include/rclcpp/executor.hpp

@@ -22,6 +22,7 @@
 #include <iostream>
 #include <list>
 #include <memory>
+#include <mutex>
 #include <string>
 #include <vector>
 
@@ -355,6 +356,9 @@ protected:
   /// Wait set for managing entities that the rmw layer waits on.
   rcl_wait_set_t wait_set_ = rcl_get_zero_initialized_wait_set();
 
+  // Mutex to protect the subsequent memory_strategy_.
+  std::mutex memory_strategy_mutex_;
+
   /// The memory strategy: an interface for handling user-defined memory allocation strategies.
   memory_strategy::MemoryStrategy::SharedPtr memory_strategy_;
 

rclcpp/include/rclcpp/node_interfaces/get_node_base_interface.hpp

@@ -123,16 +123,18 @@ template<
   typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
 >
 rclcpp::node_interfaces::NodeBaseInterface *
-get_node_base_interface(NodeType && node_pointer)
+get_node_base_interface(NodeType node_pointer)
 {
   // Forward pointers to detail implmentation directly.
-  return detail::get_node_base_interface_from_pointer(std::forward<NodeType>(node_pointer));
+  return detail::get_node_base_interface_from_pointer(node_pointer);
 }
 
 /// Get the NodeBaseInterface as a pointer from a "Node like" object.
 template<
   typename NodeType,
-  typename std::enable_if<!std::is_pointer<NodeType>::value, int>::type = 0
+  typename std::enable_if<
+    !std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
+  >::type = 0
 >
 rclcpp::node_interfaces::NodeBaseInterface *
 get_node_base_interface(NodeType && node_reference)

rclcpp/include/rclcpp/node_interfaces/get_node_timers_interface.hpp

@@ -123,16 +123,18 @@ template<
   typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
 >
 rclcpp::node_interfaces::NodeTimersInterface *
-get_node_timers_interface(NodeType && node_pointer)
+get_node_timers_interface(NodeType node_pointer)
 {
   // Forward pointers to detail implmentation directly.
-  return detail::get_node_timers_interface_from_pointer(std::forward<NodeType>(node_pointer));
+  return detail::get_node_timers_interface_from_pointer(node_pointer);
 }
 
 /// Get the NodeTimersInterface as a pointer from a "Node like" object.
 template<
   typename NodeType,
-  typename std::enable_if<!std::is_pointer<NodeType>::value, int>::type = 0
+  typename std::enable_if<
+    !std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
+  >::type = 0
 >
 rclcpp::node_interfaces::NodeTimersInterface *
 get_node_timers_interface(NodeType && node_reference)

rclcpp/include/rclcpp/node_interfaces/get_node_topics_interface.hpp

@@ -123,16 +123,18 @@ template<
   typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
 >
 rclcpp::node_interfaces::NodeTopicsInterface *
-get_node_topics_interface(NodeType && node_pointer)
+get_node_topics_interface(NodeType node_pointer)
 {
   // Forward pointers to detail implmentation directly.
-  return detail::get_node_topics_interface_from_pointer(std::forward<NodeType>(node_pointer));
+  return detail::get_node_topics_interface_from_pointer(node_pointer);
 }
 
 /// Get the NodeTopicsInterface as a pointer from a "Node like" object.
 template<
   typename NodeType,
-  typename std::enable_if<!std::is_pointer<NodeType>::value, int>::type = 0
+  typename std::enable_if<
+    !std::is_pointer<typename std::remove_reference<NodeType>::type>::value, int
+  >::type = 0
 >
 rclcpp::node_interfaces::NodeTopicsInterface *
 get_node_topics_interface(NodeType && node_reference)

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>0.7.7</version>
+  <version>0.7.12</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp/src/rclcpp/executor.cpp

@@ -140,6 +140,7 @@ Executor::add_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_pt
     }
   }
   // Add the node's notify condition to the guard condition handles
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
   memory_strategy_->add_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
@@ -178,6 +179,7 @@ Executor::remove_node(rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node
       }
     }
   }
+  std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
   memory_strategy_->remove_guard_condition(node_ptr->get_notify_guard_condition());
 }
 
@@ -423,43 +425,47 @@ Executor::execute_client(
 void
 Executor::wait_for_work(std::chrono::nanoseconds timeout)
 {
-  // Collect the subscriptions and timers to be waited on
-  memory_strategy_->clear_handles();
-  bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
+  {
+    std::unique_lock<std::mutex> lock(memory_strategy_mutex_);
 
-  // Clean up any invalid nodes, if they were detected
-  if (has_invalid_weak_nodes) {
-    auto node_it = weak_nodes_.begin();
-    auto gc_it = guard_conditions_.begin();
-    while (node_it != weak_nodes_.end()) {
-      if (node_it->expired()) {
-        node_it = weak_nodes_.erase(node_it);
-        memory_strategy_->remove_guard_condition(*gc_it);
-        gc_it = guard_conditions_.erase(gc_it);
-      } else {
-        ++node_it;
-        ++gc_it;
+    // Collect the subscriptions and timers to be waited on
+    memory_strategy_->clear_handles();
+    bool has_invalid_weak_nodes = memory_strategy_->collect_entities(weak_nodes_);
+
+    // Clean up any invalid nodes, if they were detected
+    if (has_invalid_weak_nodes) {
+      auto node_it = weak_nodes_.begin();
+      auto gc_it = guard_conditions_.begin();
+      while (node_it != weak_nodes_.end()) {
+        if (node_it->expired()) {
+          node_it = weak_nodes_.erase(node_it);
+          memory_strategy_->remove_guard_condition(*gc_it);
+          gc_it = guard_conditions_.erase(gc_it);
+        } else {
+          ++node_it;
+          ++gc_it;
+        }
       }
     }
-  }
-  // clear wait set
-  if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
-    throw std::runtime_error("Couldn't clear wait set");
-  }
+    // clear wait set
+    if (rcl_wait_set_clear(&wait_set_) != RCL_RET_OK) {
+      throw std::runtime_error("Couldn't clear wait set");
+    }
 
-  // The size of waitables are accounted for in size of the other entities
-  rcl_ret_t ret = rcl_wait_set_resize(
-    &wait_set_, memory_strategy_->number_of_ready_subscriptions(),
-    memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
-    memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
-    memory_strategy_->number_of_ready_events());
-  if (RCL_RET_OK != ret) {
-    throw std::runtime_error(
-            std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
-  }
+    // The size of waitables are accounted for in size of the other entities
+    rcl_ret_t ret = rcl_wait_set_resize(
+      &wait_set_, memory_strategy_->number_of_ready_subscriptions(),
+      memory_strategy_->number_of_guard_conditions(), memory_strategy_->number_of_ready_timers(),
+      memory_strategy_->number_of_ready_clients(), memory_strategy_->number_of_ready_services(),
+      memory_strategy_->number_of_ready_events());
+    if (RCL_RET_OK != ret) {
+      throw std::runtime_error(
+              std::string("Couldn't resize the wait set : ") + rcl_get_error_string().str);
+    }
 
-  if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
-    throw std::runtime_error("Couldn't fill wait set");
+    if (!memory_strategy_->add_handles_to_wait_set(&wait_set_)) {
+      throw std::runtime_error("Couldn't fill wait set");
+    }
   }
   rcl_ret_t status =
     rcl_wait(&wait_set_, std::chrono::duration_cast<std::chrono::nanoseconds>(timeout).count());

rclcpp/src/rclcpp/executors/multi_threaded_executor.cpp

@@ -83,6 +83,11 @@ MultiThreadedExecutor::run(size_t)
       if (any_exec.timer) {
         // Guard against multiple threads getting the same timer.
         if (scheduled_timers_.count(any_exec.timer) != 0) {
+          // Make sure that any_exec's callback group is reset before
+          // the lock is released.
+          if (any_exec.callback_group) {
+            any_exec.callback_group->can_be_taken_from().store(true);
+          }
           continue;
         }
         scheduled_timers_.insert(any_exec.timer);

rclcpp/test/node_interfaces/test_get_node_interfaces.cpp

@@ -85,6 +85,26 @@ TEST_F(TestGetNodeInterfaces, node_reference) {
     >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
 }
 
+TEST_F(TestGetNodeInterfaces, rclcpp_node_pointer) {
+  rclcpp::Node * node_pointer = this->node.get();
+  auto result = rclcpp::node_interfaces::get_node_topics_interface(node_pointer);
+  static_assert(
+    std::is_same<
+      rclcpp::node_interfaces::NodeTopicsInterface *,
+      decltype(result)
+    >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
+}
+
+TEST_F(TestGetNodeInterfaces, node_pointer) {
+  NodeWrapper * wrapped_node_pointer = this->wrapped_node.get();
+  auto result = rclcpp::node_interfaces::get_node_topics_interface(wrapped_node_pointer);
+  static_assert(
+    std::is_same<
+      rclcpp::node_interfaces::NodeTopicsInterface *,
+      decltype(result)
+    >::value, "expected rclcpp::node_interfaces::NodeTopicsInterface *");
+}
+
 TEST_F(TestGetNodeInterfaces, interface_shared_pointer) {
   std::shared_ptr<rclcpp::node_interfaces::NodeTopicsInterface> interface_shared_ptr =
     this->node->get_node_topics_interface();

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,24 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+0.7.12 (2019-12-05)
+-------------------
+* Fixed memory leak in action clients (`#934 <https://github.com/ros2/rclcpp/issues/934>`_)
+* Do not throw exception in action client if take fails (`#891 <https://github.com/ros2/rclcpp/issues/891>`_)
+* Contributors: Ivan Santiago Paunovic, Jacob Perron
+
+0.7.11 (2019-10-11)
+-------------------
+
+0.7.10 (2019-09-23)
+-------------------
+
+0.7.9 (2019-09-20)
+------------------
+
+0.7.8 (2019-09-06)
+------------------
+
 0.7.7 (2019-07-31)
 ------------------
 

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>0.7.7</version>
+  <version>0.7.12</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp_action/src/client.cpp

@@ -165,11 +165,11 @@ ClientBase::wait_for_action_server_nanoseconds(std::chrono::nanoseconds timeout)
   if (!node_ptr) {
     throw rclcpp::exceptions::InvalidNodeError();
   }
-  auto event = node_ptr->get_graph_event();
   // check to see if the server is ready immediately
   if (this->action_server_is_ready()) {
     return true;
   }
+  auto event = node_ptr->get_graph_event();
   if (timeout == std::chrono::nanoseconds(0)) {
     // check was non-blocking, return immediately
     return false;
@@ -388,20 +388,20 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_feedback(
       pimpl_->client_handle.get(), feedback_message.get());
     pimpl_->is_feedback_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking feedback");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_feedback_message(feedback_message);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking feedback");
     }
   } else if (pimpl_->is_status_ready) {
     std::shared_ptr<void> status_message = this->create_status_message();
     rcl_ret_t ret = rcl_action_take_status(
       pimpl_->client_handle.get(), status_message.get());
     pimpl_->is_status_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking status");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_status_message(status_message);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking status");
     }
   } else if (pimpl_->is_goal_response_ready) {
     rmw_request_id_t response_header;
@@ -409,10 +409,10 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_goal_response(
       pimpl_->client_handle.get(), &response_header, goal_response.get());
     pimpl_->is_goal_response_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking goal response");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_goal_response(response_header, goal_response);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking goal response");
     }
   } else if (pimpl_->is_result_response_ready) {
     rmw_request_id_t response_header;
@@ -420,10 +420,10 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_result_response(
       pimpl_->client_handle.get(), &response_header, result_response.get());
     pimpl_->is_result_response_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking result response");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_result_response(response_header, result_response);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking result response");
     }
   } else if (pimpl_->is_cancel_response_ready) {
     rmw_request_id_t response_header;
@@ -431,10 +431,10 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_cancel_response(
       pimpl_->client_handle.get(), &response_header, cancel_response.get());
     pimpl_->is_cancel_response_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking cancel response");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_cancel_response(response_header, cancel_response);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking cancel response");
     }
   } else {
     throw std::runtime_error("Executing action client but nothing is ready");

rclcpp_components/CHANGELOG.rst

@@ -2,6 +2,23 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.12 (2019-12-05)
+-------------------
+* Backport rclcpp_components_register_node (`#935 <https://github.com/ros2/rclcpp/issues/935>`_)
+* Contributors: Shane Loretz
+
+0.7.11 (2019-10-11)
+-------------------
+
+0.7.10 (2019-09-23)
+-------------------
+
+0.7.9 (2019-09-20)
+------------------
+
+0.7.8 (2019-09-06)
+------------------
+
 0.7.7 (2019-07-31)
 ------------------
 

rclcpp_components/CMakeLists.txt

@@ -41,6 +41,11 @@ ament_target_dependencies(component_container
   "rclcpp"
 )
 
+set(node_main_template_install_dir "share/${PROJECT_NAME}")
+install(FILES
+  src/node_main.cpp.in
+  DESTINATION ${node_main_template_install_dir})
+
 add_executable(
   component_container_mt
   src/component_container_mt.cpp
@@ -119,4 +124,4 @@ install(
 ament_export_include_directories(include)
 ament_export_dependencies(class_loader)
 ament_export_dependencies(rclcpp)
-ament_package(CONFIG_EXTRAS rclcpp_components-extras.cmake)
+ament_package(CONFIG_EXTRAS rclcpp_components-extras.cmake.in)

rclcpp_components/cmake/rclcpp_components_register_node.cmake

@@ -0,0 +1,52 @@
+# 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.
+#
+# usage: rclcpp_components_register_node(
+#        <target> PLUGIN <component> EXECUTABLE <node>)
+#
+# Register an rclcpp component with the ament
+# resource index and create an executable.
+#
+# :param target: the shared library target
+# :type target: string
+# :param PLUGIN: the plugin name
+# :type PLUGIN: string
+# :type EXECUTABLE: the node's executable name
+# :type EXECUTABLE: string
+#
+macro(rclcpp_components_register_node target)
+  cmake_parse_arguments(ARGS "" "PLUGIN;EXECUTABLE" "" ${ARGN})
+  set(component ${ARGS_PLUGIN})
+  set(node ${ARGS_EXECUTABLE})
+  _rclcpp_components_register_package_hook()
+  set(_path "lib")
+  set(library_name "$<TARGET_FILE_NAME:${target}>")
+  if(WIN32)
+    set(_path "bin")
+  endif()
+  set(_RCLCPP_COMPONENTS__NODES
+    "${_RCLCPP_COMPONENTS__NODES}${component};${_path}/$<TARGET_FILE_NAME:${target}>\n")
+  configure_file(${rclcpp_components_NODE_TEMPLATE}
+    ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_configured_${node}.cpp.in)
+  file(GENERATE OUTPUT ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_${node}.cpp
+    INPUT ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_configured_${node}.cpp.in)
+  add_executable(${node} ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_${node}.cpp)
+  ament_target_dependencies(${node}
+    "rclcpp"
+    "class_loader"
+    "rclcpp_components")
+  install(TARGETS
+    ${node}
+    DESTINATION lib/${PROJECT_NAME})
+endmacro()

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>0.7.7</version>
+  <version>0.7.12</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_components/rclcpp_components-extras.cmake.in

@@ -25,5 +25,7 @@ macro(_rclcpp_components_register_package_hook)
   endif()
 endmacro()
 
-include("${rclcpp_components_DIR}/rclcpp_components_register_nodes.cmake")
+set(@PROJECT_NAME@_NODE_TEMPLATE "@CMAKE_INSTALL_PREFIX@/@node_main_template_install_dir@/node_main.cpp.in")
 
+include("${rclcpp_components_DIR}/rclcpp_components_register_nodes.cmake")
+include("${rclcpp_components_DIR}/rclcpp_components_register_node.cmake")

rclcpp_components/src/node_main.cpp.in

@@ -0,0 +1,66 @@
+// 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 <memory>
+#include <string>
+#include <vector>
+
+#include "class_loader/class_loader.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/node_factory.hpp"
+#include "rclcpp_components/node_factory_template.hpp"
+
+#define NODE_MAIN_LOGGER_NAME "@node@"
+
+int main(int argc, char * argv[])
+{
+  auto args = rclcpp::init_and_remove_ros_arguments(argc, argv);
+  rclcpp::Logger logger = rclcpp::get_logger(NODE_MAIN_LOGGER_NAME);
+  rclcpp::executors::SingleThreadedExecutor exec;
+  rclcpp::NodeOptions options;
+  options.arguments(args);
+  std::vector<class_loader::ClassLoader * > loaders;
+  std::vector<rclcpp_components::NodeInstanceWrapper> node_wrappers;
+
+  std::string library_name = "@library_name@";
+  std::string class_name = "rclcpp_components::NodeFactoryTemplate<@component@>";
+
+  RCLCPP_DEBUG(logger, "Load library %s", library_name.c_str());
+  auto loader = new class_loader::ClassLoader(library_name);
+  auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
+  for (auto clazz : classes) {
+    std::string name = clazz.c_str();
+    if (!(name.compare(class_name))) {
+      RCLCPP_DEBUG(logger, "Instantiate class %s", clazz.c_str());
+      auto node_factory = loader->createInstance<rclcpp_components::NodeFactory>(clazz);
+      auto wrapper = node_factory->create_node_instance(options);
+      auto node = wrapper.get_node_base_interface();
+      node_wrappers.push_back(wrapper);
+      exec.add_node(node);
+    }
+  }
+  loaders.push_back(loader);
+
+
+  exec.spin();
+
+  for (auto wrapper : node_wrappers) {
+    exec.remove_node(wrapper.get_node_base_interface());
+  }
+  node_wrappers.clear();
+
+  rclcpp::shutdown();
+
+  return 0;
+}

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,6 +3,25 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+0.7.12 (2019-12-05)
+-------------------
+
+0.7.11 (2019-10-11)
+-------------------
+
+0.7.10 (2019-09-23)
+-------------------
+* reset error message before setting a new one, embed the original one (`#854 <https://github.com/ros2/rclcpp/issues/854>`_) (`#866 <https://github.com/ros2/rclcpp/issues/866>`_)
+* Contributors: Dirk Thomas, Zachary Michaels
+
+0.7.9 (2019-09-20)
+------------------
+
+0.7.8 (2019-09-06)
+------------------
+* Fixed error messages which were not printing to console. (`#777 <https://github.com/ros2/rclcpp/issues/777>`_) (`#847 <https://github.com/ros2/rclcpp/issues/847>`_)
+* Contributors: Jacob Perron
+
 0.7.7 (2019-07-31)
 ------------------
 * Added a default value to node options in LifecycleNode constructor to match node constructor. Updated API documentation. (`#801 <https://github.com/ros2/rclcpp/issues/801>`_)

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>0.7.7</version>
+  <version>0.7.12</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_interface_impl.hpp

@@ -369,6 +369,7 @@ public:
     {
       RCUTILS_LOG_ERROR("Unable to start transition %u from current state %s: %s",
         transition_id, state_machine_.current_state->label, rcl_get_error_string().str);
+      rcutils_reset_error();
       return RCL_RET_ERROR;
     }
 
@@ -389,8 +390,10 @@ public:
     if (rcl_lifecycle_trigger_transition_by_label(
         &state_machine_, transition_label, publish_update) != RCL_RET_OK)
     {
-      RCUTILS_LOG_ERROR("Failed to finish transition %u. Current state is now: %s",
-        transition_id, state_machine_.current_state->label);
+      RCUTILS_LOG_ERROR(
+        "Failed to finish transition %u. Current state is now: %s (%s)",
+        transition_id, state_machine_.current_state->label, rcl_get_error_string().str);
+      rcutils_reset_error();
       return RCL_RET_ERROR;
     }
 
@@ -404,7 +407,8 @@ public:
       if (rcl_lifecycle_trigger_transition_by_label(
           &state_machine_, error_cb_label, publish_update) != RCL_RET_OK)
       {
-        RCUTILS_LOG_ERROR("Failed to call cleanup on error state");
+        RCUTILS_LOG_ERROR("Failed to call cleanup on error state: %s", rcl_get_error_string().str);
+        rcutils_reset_error();
         return RCL_RET_ERROR;
       }
     }
@@ -425,14 +429,9 @@ public:
       auto callback = it->second;
       try {
         cb_success = callback(State(previous_state));
-      } catch (const std::exception &) {
-        // TODO(karsten1987): Windows CI doesn't let me print the msg here
-        // the todo is to forward the exception to the on_error callback
-        // RCUTILS_LOG_ERROR("Caught exception in callback for transition %d\n",
-        //  it->first);
-        // RCUTILS_LOG_ERROR("Original error msg: %s\n", e.what());
-        // maybe directly go for error handling here
-        // and pass exception along with it
+      } catch (const std::exception & e) {
+        RCUTILS_LOG_ERROR("Caught exception in callback for transition %d", it->first);
+        RCUTILS_LOG_ERROR("Original error: %s", e.what());
         cb_success = node_interfaces::LifecycleNodeInterface::CallbackReturn::ERROR;
       }
     }