28.2.0

Signed-off-by: Marco A. Gutierrez <marcogg@marcogg.com>

rclcpp/CHANGELOG.rst

@@ -2,6 +2,12 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+28.2.0 (2024-04-26)
+-------------------
+* Check for negative time in rclcpp::Time(int64_t nanoseconds, ...) constructor (`#2510 <https://github.com/ros2/rclcpp/issues/2510>`_)
+* Revise the description of service configure_introspection() (`#2511 <https://github.com/ros2/rclcpp/issues/2511>`_)
+* Contributors: Barry Xu, Sharmin Ramli
+
 28.1.0 (2024-04-16)
 -------------------
 * Remove references to index.ros.org. (`#2504 <https://github.com/ros2/rclcpp/issues/2504>`_)

rclcpp/include/rclcpp/service.hpp

@@ -499,7 +499,7 @@ public:
     }
   }
 
-  /// Configure client introspection.
+  /// Configure service introspection.
   /**
    * \param[in] clock clock to use to generate introspection timestamps
    * \param[in] qos_service_event_pub QoS settings to use when creating the introspection publisher

rclcpp/include/rclcpp/time.hpp

@@ -49,6 +49,7 @@ public:
   /**
    * \param nanoseconds since time epoch
    * \param clock_type clock type
+   * \throws std::runtime_error if nanoseconds are negative
    */
   RCLCPP_PUBLIC
   explicit Time(int64_t nanoseconds = 0, rcl_clock_type_t clock_type = RCL_SYSTEM_TIME);

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>28.1.0</version>
+  <version>28.2.0</version>
   <description>The ROS client library in C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp/src/rclcpp/time.cpp

@@ -60,6 +60,10 @@ Time::Time(int32_t seconds, uint32_t nanoseconds, rcl_clock_type_t clock_type)
 Time::Time(int64_t nanoseconds, rcl_clock_type_t clock_type)
 : rcl_time_(init_time_point(clock_type))
 {
+  if (nanoseconds < 0) {
+    throw std::runtime_error("cannot store a negative time point in rclcpp::Time");
+  }
+
   rcl_time_.nanoseconds = nanoseconds;
 }
 
@@ -249,6 +253,9 @@ Time::operator+=(const rclcpp::Duration & rhs)
   }
 
   rcl_time_.nanoseconds += rhs.nanoseconds();
+  if (rcl_time_.nanoseconds < 0) {
+    throw std::runtime_error("cannot store a negative time point in rclcpp::Time");
+  }
 
   return *this;
 }
@@ -264,6 +271,9 @@ Time::operator-=(const rclcpp::Duration & rhs)
   }
 
   rcl_time_.nanoseconds -= rhs.nanoseconds();
+  if (rcl_time_.nanoseconds < 0) {
+    throw std::runtime_error("cannot store a negative time point in rclcpp::Time");
+  }
 
   return *this;
 }

rclcpp/test/rclcpp/test_time.cpp

@@ -138,6 +138,8 @@ TEST_F(TestTime, conversions) {
 
     EXPECT_ANY_THROW(rclcpp::Time(-1, 1));
 
+    EXPECT_ANY_THROW(rclcpp::Time(-1));
+
     EXPECT_ANY_THROW(
     {
       rclcpp::Time assignment(1, 2);
@@ -168,48 +170,6 @@ TEST_F(TestTime, conversions) {
     EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
     EXPECT_EQ(rclcpp::Time(time_msg).nanoseconds(), ONE_AND_HALF_SEC_IN_NS);
   }
-
-  {
-    // Can rclcpp::Time be negative or not? The following constructor works:
-    rclcpp::Time time(-HALF_SEC_IN_NS);
-    auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
-    EXPECT_EQ(time_msg.sec, -1);
-    EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
-
-    // The opposite conversion throws...
-    EXPECT_ANY_THROW(
-    {
-      rclcpp::Time negative_time(time_msg);
-    });
-  }
-
-  {
-    // Can rclcpp::Time be negative or not? The following constructor works:
-    rclcpp::Time time(-ONE_SEC_IN_NS);
-    auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
-    EXPECT_EQ(time_msg.sec, -1);
-    EXPECT_EQ(time_msg.nanosec, 0u);
-
-    // The opposite conversion throws...
-    EXPECT_ANY_THROW(
-    {
-      rclcpp::Time negative_time(time_msg);
-    });
-  }
-
-  {
-    // Can rclcpp::Time be negative or not? The following constructor works:
-    rclcpp::Time time(-ONE_AND_HALF_SEC_IN_NS);
-    auto time_msg = static_cast<builtin_interfaces::msg::Time>(time);
-    EXPECT_EQ(time_msg.sec, -2);
-    EXPECT_EQ(time_msg.nanosec, HALF_SEC_IN_NS);
-
-    // The opposite conversion throws...
-    EXPECT_ANY_THROW(
-    {
-      rclcpp::Time negative_time(time_msg);
-    });
-  }
 }
 
 TEST_F(TestTime, operators) {
@@ -326,31 +286,18 @@ TEST_F(TestTime, overflow_detectors) {
 
 TEST_F(TestTime, overflows) {
   rclcpp::Time max_time(std::numeric_limits<rcl_time_point_value_t>::max());
-  rclcpp::Time min_time(std::numeric_limits<rcl_time_point_value_t>::min());
   rclcpp::Duration one(1ns);
   rclcpp::Duration two(2ns);
 
-  // Cross min/max
+  // Cross max
   EXPECT_THROW(max_time + one, std::overflow_error);
-  EXPECT_THROW(min_time - one, std::underflow_error);
-  EXPECT_THROW(max_time - min_time, std::overflow_error);
-  EXPECT_THROW(min_time - max_time, std::underflow_error);
   EXPECT_THROW(rclcpp::Time(max_time) += one, std::overflow_error);
-  EXPECT_THROW(rclcpp::Time(min_time) -= one, std::underflow_error);
   EXPECT_NO_THROW(max_time - max_time);
-  EXPECT_NO_THROW(min_time - min_time);
 
-  // Cross zero in both directions
+  // Cross zero
   rclcpp::Time one_time(1);
-  EXPECT_NO_THROW(one_time - two);
-  EXPECT_NO_THROW(rclcpp::Time(one_time) -= two);
-
-  rclcpp::Time minus_one_time(-1);
-  EXPECT_NO_THROW(minus_one_time + two);
-  EXPECT_NO_THROW(rclcpp::Time(minus_one_time) += two);
-
-  EXPECT_NO_THROW(one_time - minus_one_time);
-  EXPECT_NO_THROW(minus_one_time - one_time);
+  EXPECT_THROW(one_time - two, std::runtime_error);
+  EXPECT_THROW(rclcpp::Time(one_time) -= two, std::runtime_error);
 
   rclcpp::Time two_time(2);
   EXPECT_NO_THROW(one_time - two_time);
@@ -432,41 +379,24 @@ TEST_F(TestTime, test_overflow_underflow_throws) {
   RCLCPP_EXPECT_THROW_EQ(
     test_time = rclcpp::Time(INT64_MAX) + rclcpp::Duration(1ns),
     std::overflow_error("addition leads to int64_t overflow"));
-  RCLCPP_EXPECT_THROW_EQ(
-    test_time = rclcpp::Time(INT64_MIN) + rclcpp::Duration(-1ns),
-    std::underflow_error("addition leads to int64_t underflow"));
 
   RCLCPP_EXPECT_THROW_EQ(
     test_time = rclcpp::Time(INT64_MAX) - rclcpp::Duration(-1ns),
     std::overflow_error("time subtraction leads to int64_t overflow"));
-  RCLCPP_EXPECT_THROW_EQ(
-    test_time = rclcpp::Time(INT64_MIN) - rclcpp::Duration(1ns),
-    std::underflow_error("time subtraction leads to int64_t underflow"));
 
   test_time = rclcpp::Time(INT64_MAX);
   RCLCPP_EXPECT_THROW_EQ(
     test_time += rclcpp::Duration(1ns),
     std::overflow_error("addition leads to int64_t overflow"));
-  test_time = rclcpp::Time(INT64_MIN);
-  RCLCPP_EXPECT_THROW_EQ(
-    test_time += rclcpp::Duration(-1ns),
-    std::underflow_error("addition leads to int64_t underflow"));
 
   test_time = rclcpp::Time(INT64_MAX);
   RCLCPP_EXPECT_THROW_EQ(
     test_time -= rclcpp::Duration(-1ns),
     std::overflow_error("time subtraction leads to int64_t overflow"));
-  test_time = rclcpp::Time(INT64_MIN);
-  RCLCPP_EXPECT_THROW_EQ(
-    test_time -= rclcpp::Duration(1ns),
-    std::underflow_error("time subtraction leads to int64_t underflow"));
 
   RCLCPP_EXPECT_THROW_EQ(
     test_time = rclcpp::Duration::from_nanoseconds(INT64_MAX) + rclcpp::Time(1),
     std::overflow_error("addition leads to int64_t overflow"));
-  RCLCPP_EXPECT_THROW_EQ(
-    test_time = rclcpp::Duration::from_nanoseconds(INT64_MIN) + rclcpp::Time(-1),
-    std::underflow_error("addition leads to int64_t underflow"));
 }
 
 class TestClockSleep : public ::testing::Test

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,9 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+28.2.0 (2024-04-26)
+-------------------
+
 28.1.0 (2024-04-16)
 -------------------
 * Remove references to index.ros.org. (`#2504 <https://github.com/ros2/rclcpp/issues/2504>`_)

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>28.1.0</version>
+  <version>28.2.0</version>
   <description>Adds action APIs for C++.</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp_components/CHANGELOG.rst

@@ -2,6 +2,9 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+28.2.0 (2024-04-26)
+-------------------
+
 28.1.0 (2024-04-16)
 -------------------
 * Remove references to index.ros.org. (`#2504 <https://github.com/ros2/rclcpp/issues/2504>`_)

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>28.1.0</version>
+  <version>28.2.0</version>
   <description>Package containing tools for dynamically loadable components</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,6 +3,9 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+28.2.0 (2024-04-26)
+-------------------
+
 28.1.0 (2024-04-16)
 -------------------
 * Remove references to index.ros.org. (`#2504 <https://github.com/ros2/rclcpp/issues/2504>`_)

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>28.1.0</version>
+  <version>28.2.0</version>
   <description>Package containing a prototype for lifecycle implementation</description>
 
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>