11.1.0

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

rclcpp/CHANGELOG.rst

@@ -2,6 +2,18 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+11.1.0 (2021-07-13)
+-------------------
+* Removed left over ``is_initialized()`` implementation (`#1711 <https://github.com/ros2/rclcpp/issues/1711>`_)
+  Leftover from https://github.com/ros2/rclcpp/pull/1622
+* Fixed declare parameter methods for int and float vectors (`#1696 <https://github.com/ros2/rclcpp/issues/1696>`_)
+* Cleaned up implementation of the intra-process manager (`#1695 <https://github.com/ros2/rclcpp/issues/1695>`_)
+* Added the node name to an executor ``runtime_error`` (`#1686 <https://github.com/ros2/rclcpp/issues/1686>`_)
+* Fixed a typo "Attack" -> "Attach" (`#1687 <https://github.com/ros2/rclcpp/issues/1687>`_)
+* Removed use of std::allocator<>::rebind (`#1678 <https://github.com/ros2/rclcpp/issues/1678>`_)
+  rebind is deprecated in c++17 and removed in c++20
+* Contributors: Alberto Soragna, Chen Lihui, Chris Lalancette, Petter Nilsson, Steve Macenski, William Woodall
+
 11.0.0 (2021-05-18)
 -------------------
 * Allow declare uninitialized parameters (`#1673 <https://github.com/ros2/rclcpp/issues/1673>`_)

rclcpp/include/rclcpp/parameter_value.hpp

@@ -301,6 +301,16 @@ public:
     return get<ParameterType::PARAMETER_BOOL_ARRAY>();
   }
 
+  template<typename type>
+  constexpr
+  typename std::enable_if<
+    std::is_convertible<
+      type, const std::vector<int> &>::value, const std::vector<int64_t> &>::type
+  get() const
+  {
+    return get<ParameterType::PARAMETER_INTEGER_ARRAY>();
+  }
+
   template<typename type>
   constexpr
   typename std::enable_if<
@@ -311,6 +321,16 @@ public:
     return get<ParameterType::PARAMETER_INTEGER_ARRAY>();
   }
 
+  template<typename type>
+  constexpr
+  typename std::enable_if<
+    std::is_convertible<
+      type, const std::vector<float> &>::value, const std::vector<double> &>::type
+  get() const
+  {
+    return get<ParameterType::PARAMETER_DOUBLE_ARRAY>();
+  }
+
   template<typename type>
   constexpr
   typename std::enable_if<

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>11.0.0</version>
+  <version>11.1.0</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="mabel@openrobotics.org">Mabel Zhang</maintainer>

rclcpp/src/rclcpp/utilities.cpp

@@ -156,12 +156,6 @@ ok(Context::SharedPtr context)
   return context->is_valid();
 }
 
-bool
-is_initialized(Context::SharedPtr context)
-{
-  return ok(context);
-}
-
 bool
 shutdown(Context::SharedPtr context, const std::string & reason)
 {

rclcpp/test/rclcpp/test_node.cpp

@@ -16,6 +16,7 @@
 
 #include <chrono>
 #include <functional>
+#include <limits>
 #include <map>
 #include <memory>
 #include <string>
@@ -2515,6 +2516,59 @@ TEST_F(TestNode, get_parameter_types_undeclared_parameters_allowed) {
   }
 }
 
+// test declare parameter with int, int64_t, float and double vector
+TEST_F(TestNode, declare_parameter_with_vector) {
+  auto node = std::make_shared<rclcpp::Node>(
+    "test_declare_parameter_with_vector"_unq,
+    rclcpp::NodeOptions().allow_undeclared_parameters(true));
+  {
+    // declare parameter and then get types to check
+    auto name1 = "parameter"_unq;
+    auto name2 = "parameter"_unq;
+    auto name3 = "parameter"_unq;
+    auto name4 = "parameter"_unq;
+
+    node->declare_parameter(name1, std::vector<int>{});
+    node->declare_parameter(name2, std::vector<int64_t>{});
+    node->declare_parameter(name3, std::vector<float>{});
+    node->declare_parameter(name4, std::vector<double>{});
+
+    EXPECT_TRUE(node->has_parameter(name1));
+    EXPECT_TRUE(node->has_parameter(name2));
+    EXPECT_TRUE(node->has_parameter(name3));
+    EXPECT_TRUE(node->has_parameter(name4));
+
+    auto results = node->get_parameter_types({name1, name2, name3, name4});
+    EXPECT_EQ(results.size(), 4u);
+    EXPECT_EQ(results[0], rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY);
+    EXPECT_EQ(results[1], rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER_ARRAY);
+    EXPECT_EQ(results[2], rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY);
+    EXPECT_EQ(results[3], rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE_ARRAY);
+  }
+  {
+    // declare parameter and then get values to check
+    auto name1 = "parameter"_unq;
+    auto name2 = "parameter"_unq;
+    auto name3 = "parameter"_unq;
+    auto name4 = "parameter"_unq;
+
+    int64_t bigger_than_int = INT64_MAX - 42;
+    double bigger_than_float = std::numeric_limits<double>::max() - 42;
+    node->declare_parameter(name1, std::vector<int>{1, 2});
+    node->declare_parameter(name2, std::vector<int64_t>{3, bigger_than_int});
+    node->declare_parameter(name3, std::vector<float>{1.5f, 2.8f});
+    node->declare_parameter(name4, std::vector<double>{3.0, bigger_than_float});
+
+    std::vector<rclcpp::Parameter> expected = {
+      {name1, std::vector<int>{1, 2}},
+      {name2, std::vector<int64_t>{3, bigger_than_int}},
+      {name3, std::vector<float>{1.5f, 2.8f}},
+      {name4, std::vector<double>{3.0, bigger_than_float}},
+    };
+    EXPECT_EQ(node->get_parameters({name1, name2, name3, name4}), expected);
+  }
+}
+
 void expect_qos_profile_eq(
   const rmw_qos_profile_t & qos1, const rmw_qos_profile_t & qos2, bool is_publisher)
 {

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,11 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+11.1.0 (2021-07-13)
+-------------------
+* Fixed occasionally missing goal result caused by race condition (`#1677 <https://github.com/ros2/rclcpp/issues/1677>`_)
+* Contributors: Kaven Yau
+
 11.0.0 (2021-05-18)
 -------------------
 * Bump the benchmark timeout for benchmark_action_client (`#1671 <https://github.com/ros2/rclcpp/issues/1671>`_)

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>11.0.0</version>
+  <version>11.1.0</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="mabel@openrobotics.org">Mabel Zhang</maintainer>

rclcpp_components/CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+11.1.0 (2021-07-13)
+-------------------
+* Added a hook to generate node options in ComponentManager (`#1702 <https://github.com/ros2/rclcpp/issues/1702>`_)
+* Contributors: Rebecca Butler
+
 11.0.0 (2021-05-18)
 -------------------
 

rclcpp_components/include/rclcpp_components/component_manager.hpp

@@ -131,6 +131,15 @@ public:
   create_component_factory(const ComponentResource & resource);
 
 protected:
+  /// Create node options for loaded component
+  /*
+   * \param request information with the node to load
+   * \return node options
+   */
+  RCLCPP_COMPONENTS_PUBLIC
+  virtual rclcpp::NodeOptions
+  CreateNodeOptions(const std::shared_ptr<LoadNode::Request> request);
+
   /// Service callback to load a new node in the component
   /*
    * This function allows to add parameters, remap rules, a specific node, name a namespace

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>11.0.0</version>
+  <version>11.1.0</version>
   <description>Package containing tools for dynamically loadable components</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="mabel@openrobotics.org">Mabel Zhang</maintainer>

rclcpp_components/src/component_manager.cpp

@@ -121,6 +121,51 @@ ComponentManager::create_component_factory(const ComponentResource & resource)
   return {};
 }
 
+rclcpp::NodeOptions
+ComponentManager::CreateNodeOptions(const std::shared_ptr<LoadNode::Request> request)
+{
+  std::vector<rclcpp::Parameter> parameters;
+  for (const auto & p : request->parameters) {
+    parameters.push_back(rclcpp::Parameter::from_parameter_msg(p));
+  }
+
+  std::vector<std::string> remap_rules;
+  remap_rules.reserve(request->remap_rules.size() * 2 + 1);
+  remap_rules.push_back("--ros-args");
+  for (const std::string & rule : request->remap_rules) {
+    remap_rules.push_back("-r");
+    remap_rules.push_back(rule);
+  }
+
+  if (!request->node_name.empty()) {
+    remap_rules.push_back("-r");
+    remap_rules.push_back("__node:=" + request->node_name);
+  }
+
+  if (!request->node_namespace.empty()) {
+    remap_rules.push_back("-r");
+    remap_rules.push_back("__ns:=" + request->node_namespace);
+  }
+
+  auto options = rclcpp::NodeOptions()
+    .use_global_arguments(false)
+    .parameter_overrides(parameters)
+    .arguments(remap_rules);
+
+  for (const auto & a : request->extra_arguments) {
+    const rclcpp::Parameter extra_argument = rclcpp::Parameter::from_parameter_msg(a);
+    if (extra_argument.get_name() == "use_intra_process_comms") {
+      if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
+        throw ComponentManagerException(
+                "Extra component argument 'use_intra_process_comms' must be a boolean");
+      }
+      options.use_intra_process_comms(extra_argument.get_value<bool>());
+    }
+  }
+
+  return options;
+}
+
 void
 ComponentManager::OnLoadNode(
   const std::shared_ptr<rmw_request_id_t> request_header,
@@ -142,45 +187,7 @@ ComponentManager::OnLoadNode(
         continue;
       }
 
-      std::vector<rclcpp::Parameter> parameters;
-      for (const auto & p : request->parameters) {
-        parameters.push_back(rclcpp::Parameter::from_parameter_msg(p));
-      }
-
-      std::vector<std::string> remap_rules;
-      remap_rules.reserve(request->remap_rules.size() * 2 + 1);
-      remap_rules.push_back("--ros-args");
-      for (const std::string & rule : request->remap_rules) {
-        remap_rules.push_back("-r");
-        remap_rules.push_back(rule);
-      }
-
-      if (!request->node_name.empty()) {
-        remap_rules.push_back("-r");
-        remap_rules.push_back("__node:=" + request->node_name);
-      }
-
-      if (!request->node_namespace.empty()) {
-        remap_rules.push_back("-r");
-        remap_rules.push_back("__ns:=" + request->node_namespace);
-      }
-
-      auto options = rclcpp::NodeOptions()
-        .use_global_arguments(false)
-        .parameter_overrides(parameters)
-        .arguments(remap_rules);
-
-      for (const auto & a : request->extra_arguments) {
-        const rclcpp::Parameter extra_argument = rclcpp::Parameter::from_parameter_msg(a);
-        if (extra_argument.get_name() == "use_intra_process_comms") {
-          if (extra_argument.get_type() != rclcpp::ParameterType::PARAMETER_BOOL) {
-            throw ComponentManagerException(
-                    "Extra component argument 'use_intra_process_comms' must be a boolean");
-          }
-          options.use_intra_process_comms(extra_argument.get_value<bool>());
-        }
-      }
-
+      auto options = CreateNodeOptions(request);
       auto node_id = unique_id_++;
 
       if (0 == node_id) {

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,6 +3,9 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+11.1.0 (2021-07-13)
+-------------------
+
 11.0.0 (2021-05-18)
 -------------------
 * Fix destruction order in lifecycle benchmark (`#1675 <https://github.com/ros2/rclcpp/issues/1675>`_)

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>11.0.0</version>
+  <version>11.1.0</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="ivanpauno@ekumenlabs.com">Ivan Paunovic</maintainer>
   <maintainer email="mabel@openrobotics.org">Mabel Zhang</maintainer>