16.2.0

Signed-off-by: Barry Xu <barry.xu@sony.com>

rclcpp/CHANGELOG.rst

@@ -2,6 +2,22 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+16.2.0 (2022-05-03)
+-------------------
+* Update get_parameter_from_event to follow the function description (`#1922 <https://github.com/ros2/rclcpp/issues/1922>`_)
+* Add 'best available' QoS enum values and methods (`#1920 <https://github.com/ros2/rclcpp/issues/1920>`_)
+* Contributors: Barry Xu, Jacob Perron
+
+16.1.0 (2022-04-29)
+-------------------
+* use reinterpret_cast for function pointer conversion. (`#1919 <https://github.com/ros2/rclcpp/issues/1919>`_)
+* Contributors: Tomoya Fujita
+
+16.0.1 (2022-04-13)
+-------------------
+* remove DEFINE_CONTENT_FILTER cmake option (`#1914 <https://github.com/ros2/rclcpp/issues/1914>`_)
+* Contributors: Chen Lihui
+
 16.0.0 (2022-04-08)
 -------------------
 * remove things that were deprecated during galactic (`#1913 <https://github.com/ros2/rclcpp/issues/1913>`_)

rclcpp/CMakeLists.txt

@@ -2,11 +2,6 @@ cmake_minimum_required(VERSION 3.12)
 
 project(rclcpp)
 
-option(DEFINE_CONTENT_FILTER "Content filter feature support" ON)
-if(DEFINE_CONTENT_FILTER)
-  add_definitions(-DCONTENT_FILTER_ENABLE)
-endif()
-
 find_package(Threads REQUIRED)
 
 find_package(ament_cmake_ros REQUIRED)

rclcpp/include/rclcpp/parameter_event_handler.hpp

@@ -268,6 +268,7 @@ public:
    * \param[in] parameter_name Name of parameter.
    * \param[in] node_name Name of node which hosts the parameter.
    * \returns The resultant rclcpp::Parameter from the event.
+   * \throws std::runtime_error if input node name doesn't match the node name in parameter event.
    */
   RCLCPP_PUBLIC
   static rclcpp::Parameter

rclcpp/include/rclcpp/qos.hpp

@@ -44,6 +44,7 @@ enum class ReliabilityPolicy
   BestEffort = RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT,
   Reliable = RMW_QOS_POLICY_RELIABILITY_RELIABLE,
   SystemDefault = RMW_QOS_POLICY_RELIABILITY_SYSTEM_DEFAULT,
+  BestAvailable = RMW_QOS_POLICY_RELIABILITY_BEST_AVAILABLE,
   Unknown = RMW_QOS_POLICY_RELIABILITY_UNKNOWN,
 };
 
@@ -52,6 +53,7 @@ enum class DurabilityPolicy
   Volatile = RMW_QOS_POLICY_DURABILITY_VOLATILE,
   TransientLocal = RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
   SystemDefault = RMW_QOS_POLICY_DURABILITY_SYSTEM_DEFAULT,
+  BestAvailable = RMW_QOS_POLICY_DURABILITY_BEST_AVAILABLE,
   Unknown = RMW_QOS_POLICY_DURABILITY_UNKNOWN,
 };
 
@@ -60,6 +62,7 @@ enum class LivelinessPolicy
   Automatic = RMW_QOS_POLICY_LIVELINESS_AUTOMATIC,
   ManualByTopic = RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC,
   SystemDefault = RMW_QOS_POLICY_LIVELINESS_SYSTEM_DEFAULT,
+  BestAvailable = RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE,
   Unknown = RMW_QOS_POLICY_LIVELINESS_UNKNOWN,
 };
 
@@ -180,6 +183,10 @@ public:
   QoS &
   best_effort();
 
+  /// Set the reliability setting to best available.
+  QoS &
+  reliability_best_available();
+
   /// Set the durability setting.
   QoS &
   durability(rmw_qos_durability_policy_t durability);
@@ -199,6 +206,10 @@ public:
   QoS &
   transient_local();
 
+  /// Set the durability setting to best available.
+  QoS &
+  durability_best_available();
+
   /// Set the deadline setting.
   QoS &
   deadline(rmw_time_t deadline);
@@ -488,6 +499,36 @@ public:
   ));
 };
 
+/**
+ * Best available QoS class
+ *
+ * Match majority of endpoints currently available while maintaining the highest level of service.
+ * Policies are chosen at the time of creating a subscription or publisher.
+ * The middleware is not expected to update policies after creating a subscription or publisher,
+ * even if one or more policies are incompatible with newly discovered endpoints.
+ * Therefore, this profile should be used with care since non-deterministic behavior can occur due
+ * to races with discovery.
+ *
+ *    - History: Keep last,
+ *    - Depth: 10,
+ *    - Reliability: Best available,
+ *    - Durability: Best available,
+ *    - Deadline: Best available,
+ *    - Lifespan: Default,
+ *    - Liveliness: Best available,
+ *    - Liveliness lease duration: Best available,
+ *    - avoid ros namespace conventions: false
+ */
+class RCLCPP_PUBLIC BestAvailableQoS : public QoS
+{
+public:
+  explicit
+  BestAvailableQoS(
+    const QoSInitialization & qos_initialization = (
+      QoSInitialization::from_rmw(rmw_qos_profile_best_available)
+  ));
+};
+
 }  // namespace rclcpp
 
 #endif  // RCLCPP__QOS_HPP_

rclcpp/include/rclcpp/subscription_base.hpp

@@ -492,7 +492,6 @@ public:
     event_handlers_[event_type]->clear_on_ready_callback();
   }
 
-#ifdef CONTENT_FILTER_ENABLE
   /// Check if content filtered topic feature of the subscription instance is enabled.
   /**
    * \return boolean flag indicating if the content filtered topic of this subscription is enabled.
@@ -526,7 +525,6 @@ public:
   RCLCPP_PUBLIC
   rclcpp::ContentFilterOptions
   get_content_filter() const;
-#endif  // CONTENT_FILTER_ENABLE
 
 protected:
   template<typename EventCallbackT>

rclcpp/include/rclcpp/subscription_options.hpp

@@ -126,7 +126,6 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
       rmw_implementation_payload->modify_rmw_subscription_options(result.rmw_subscription_options);
     }
 
-#ifdef CONTENT_FILTER_ENABLE
     // Copy content_filter_options into rcl_subscription_options.
     if (!content_filter_options.filter_expression.empty()) {
       std::vector<const char *> cstrings =
@@ -141,7 +140,7 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
           ret, "failed to set content_filter_options");
       }
     }
-#endif  // CONTENT_FILTER_ENABLE
+
     return result;
   }
 

rclcpp/include/rclcpp/timer.hpp

@@ -189,10 +189,10 @@ public:
     TRACEPOINT(
       rclcpp_timer_callback_added,
       static_cast<const void *>(get_timer_handle().get()),
-      static_cast<const void *>(&callback_));
+      reinterpret_cast<const void *>(&callback_));
     TRACEPOINT(
       rclcpp_callback_register,
-      static_cast<const void *>(&callback_),
+      reinterpret_cast<const void *>(&callback_),
       tracetools::get_symbol(callback_));
   }
 
@@ -226,9 +226,9 @@ public:
   void
   execute_callback() override
   {
-    TRACEPOINT(callback_start, static_cast<const void *>(&callback_), false);
+    TRACEPOINT(callback_start, reinterpret_cast<const void *>(&callback_), false);
     execute_callback_delegate<>();
-    TRACEPOINT(callback_end, static_cast<const void *>(&callback_));
+    TRACEPOINT(callback_end, reinterpret_cast<const void *>(&callback_));
   }
 
   // void specialization

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>16.0.0</version>
+  <version>16.2.0</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>

rclcpp/src/rclcpp/parameter_event_handler.cpp

@@ -133,9 +133,13 @@ ParameterEventHandler::get_parameter_from_event(
 {
   rclcpp::Parameter p;
   if (!get_parameter_from_event(event, p, parameter_name, node_name)) {
-    throw std::runtime_error(
-            "Parameter '" + parameter_name + "' of node '" + node_name +
-            "' is not part of parameter event");
+    if (event.node == node_name) {
+      return rclcpp::Parameter(parameter_name, rclcpp::PARAMETER_NOT_SET);
+    } else {
+      throw std::runtime_error(
+              "The node name '" + node_name + "' of parameter '" + parameter_name +
+              +"' doesn't match the node name '" + event.node + "' in parameter event");
+    }
   }
   return p;
 }

rclcpp/src/rclcpp/qos.cpp

@@ -150,6 +150,12 @@ QoS::best_effort()
   return this->reliability(RMW_QOS_POLICY_RELIABILITY_BEST_EFFORT);
 }
 
+QoS &
+QoS::reliability_best_available()
+{
+  return this->reliability(RMW_QOS_POLICY_RELIABILITY_BEST_AVAILABLE);
+}
+
 QoS &
 QoS::durability(rmw_qos_durability_policy_t durability)
 {
@@ -176,6 +182,12 @@ QoS::transient_local()
   return this->durability(RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL);
 }
 
+QoS &
+QoS::durability_best_available()
+{
+  return this->durability(RMW_QOS_POLICY_DURABILITY_BEST_AVAILABLE);
+}
+
 QoS &
 QoS::deadline(rmw_time_t deadline)
 {
@@ -380,4 +392,8 @@ SystemDefaultsQoS::SystemDefaultsQoS(const QoSInitialization & qos_initializatio
 : QoS(qos_initialization, rmw_qos_profile_system_default)
 {}
 
+BestAvailableQoS::BestAvailableQoS(const QoSInitialization & qos_initialization)
+: QoS(qos_initialization, rmw_qos_profile_best_available)
+{}
+
 }  // namespace rclcpp

rclcpp/src/rclcpp/subscription_base.cpp

@@ -357,7 +357,6 @@ SubscriptionBase::set_on_new_message_callback(
   }
 }
 
-#ifdef CONTENT_FILTER_ENABLE
 bool
 SubscriptionBase::is_cft_enabled() const
 {
@@ -445,4 +444,3 @@ SubscriptionBase::get_content_filter() const
 
   return ret_options;
 }
-#endif  // CONTENT_FILTER_ENABLE

rclcpp/test/rclcpp/CMakeLists.txt

@@ -734,22 +734,20 @@ if(TARGET test_graph_listener)
   target_link_libraries(test_graph_listener ${PROJECT_NAME} mimick)
 endif()
 
-if(DEFINE_CONTENT_FILTER)
-  function(test_subscription_content_filter_for_rmw_implementation)
-    set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
-    ament_add_gmock(test_subscription_content_filter${target_suffix}
-      test_subscription_content_filter.cpp
-      ENV ${rmw_implementation_env_var}
-      TIMEOUT 120
+function(test_subscription_content_filter_for_rmw_implementation)
+  set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
+  ament_add_gmock(test_subscription_content_filter${target_suffix}
+    test_subscription_content_filter.cpp
+    ENV ${rmw_implementation_env_var}
+    TIMEOUT 120
+  )
+  if(TARGET test_subscription_content_filter${target_suffix})
+    target_link_libraries(test_subscription_content_filter${target_suffix} ${PROJECT_NAME} mimick)
+    ament_target_dependencies(test_subscription_content_filter${target_suffix}
+      "rcpputils"
+      "rosidl_typesupport_cpp"
+      "test_msgs"
     )
-    if(TARGET test_subscription_content_filter${target_suffix})
-      target_link_libraries(test_subscription_content_filter${target_suffix} ${PROJECT_NAME} mimick)
-      ament_target_dependencies(test_subscription_content_filter${target_suffix}
-        "rcpputils"
-        "rosidl_typesupport_cpp"
-        "test_msgs"
-      )
-    endif()
-  endfunction()
-  call_for_each_rmw_implementation(test_subscription_content_filter_for_rmw_implementation)
-endif()
+  endif()
+endfunction()
+call_for_each_rmw_implementation(test_subscription_content_filter_for_rmw_implementation)

rclcpp/test/rclcpp/test_create_timer.cpp

@@ -116,3 +116,20 @@ TEST(TestCreateTimer, call_wall_timer_with_bad_arguments)
     std::invalid_argument);
   rclcpp::shutdown();
 }
+
+static void test_timer_callback(void) {}
+
+TEST(TestCreateTimer, timer_function_pointer)
+{
+  rclcpp::init(0, nullptr);
+  auto node = std::make_shared<rclcpp::Node>("timer_function_pointer_node");
+
+  // make sure build succeeds with function pointer instead of lambda
+  auto some_timer = rclcpp::create_timer(
+    node,
+    node->get_clock(),
+    rclcpp::Duration(0ms),
+    test_timer_callback);
+
+  rclcpp::shutdown();
+}

rclcpp/test/rclcpp/test_parameter_event_handler.cpp

@@ -202,9 +202,17 @@ TEST_F(TestNode, GetParameterFromEvent)
   EXPECT_THROW(
     ParameterEventHandler::get_parameter_from_event(*multiple, "my_int", wrong_name),
     std::runtime_error);
-  // Throws if parameter not part of event
+
+  // Parameter not part of event
+  // with correct node
+  rclcpp::Parameter expect_notset_ret("my_notset", rclcpp::PARAMETER_NOT_SET);
+  rclcpp::Parameter ret;
+  EXPECT_NO_THROW(
+    ret = ParameterEventHandler::get_parameter_from_event(*multiple, "my_notset", node_name););
+  EXPECT_EQ(ret, expect_notset_ret);
+  // with incorrect node
   EXPECT_THROW(
-    ParameterEventHandler::get_parameter_from_event(*diff_ns_bool, "my_int", node_name),
+    ParameterEventHandler::get_parameter_from_event(*multiple, "my_notset", wrong_name),
     std::runtime_error);
 }
 

rclcpp/test/rclcpp/test_qos.cpp

@@ -93,6 +93,9 @@ TEST(TestQoS, setters_and_getters) {
   qos.reliable();
   EXPECT_EQ(rclcpp::ReliabilityPolicy::Reliable, qos.reliability());
 
+  qos.reliability_best_available();
+  EXPECT_EQ(rclcpp::ReliabilityPolicy::BestAvailable, qos.reliability());
+
   qos.reliability(rclcpp::ReliabilityPolicy::BestEffort);
   EXPECT_EQ(rclcpp::ReliabilityPolicy::BestEffort, qos.reliability());
 
@@ -102,6 +105,9 @@ TEST(TestQoS, setters_and_getters) {
   qos.transient_local();
   EXPECT_EQ(rclcpp::DurabilityPolicy::TransientLocal, qos.durability());
 
+  qos.durability_best_available();
+  EXPECT_EQ(rclcpp::DurabilityPolicy::BestAvailable, qos.durability());
+
   qos.durability(rclcpp::DurabilityPolicy::Volatile);
   EXPECT_EQ(rclcpp::DurabilityPolicy::Volatile, qos.durability());
 
@@ -183,6 +189,9 @@ TEST(TestQoS, DerivedTypes) {
   const rclcpp::KeepLast expected_initialization(RMW_QOS_POLICY_DEPTH_SYSTEM_DEFAULT);
   const rclcpp::QoS expected_default(expected_initialization);
   EXPECT_EQ(expected_default.get_rmw_qos_profile(), system_default_qos.get_rmw_qos_profile());
+
+  rclcpp::BestAvailableQoS best_available_qos;
+  EXPECT_EQ(rmw_qos_profile_best_available, best_available_qos.get_rmw_qos_profile());
 }
 
 TEST(TestQoS, policy_name_from_kind) {

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,15 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+16.2.0 (2022-05-03)
+-------------------
+
+16.1.0 (2022-04-29)
+-------------------
+
+16.0.1 (2022-04-13)
+-------------------
+
 16.0.0 (2022-04-08)
 -------------------
 * remove things that were deprecated during galactic (`#1913 <https://github.com/ros2/rclcpp/issues/1913>`_)

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>16.0.0</version>
+  <version>16.2.0</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>

rclcpp_components/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+16.2.0 (2022-05-03)
+-------------------
+
+16.1.0 (2022-04-29)
+-------------------
+
+16.0.1 (2022-04-13)
+-------------------
+
 16.0.0 (2022-04-08)
 -------------------
 

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>16.0.0</version>
+  <version>16.2.0</version>
   <description>Package containing tools for dynamically loadable components</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,6 +3,15 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+16.2.0 (2022-05-03)
+-------------------
+
+16.1.0 (2022-04-29)
+-------------------
+
+16.0.1 (2022-04-13)
+-------------------
+
 16.0.0 (2022-04-08)
 -------------------
 * remove things that were deprecated during galactic (`#1913 <https://github.com/ros2/rclcpp/issues/1913>`_)

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>16.0.0</version>
+  <version>16.2.0</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>