2.1.0

If the user doesn't retain a reference to the returned shared pointer there will be zero references and their callback will be unregistered.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

rclcpp/CHANGELOG.rst

@@ -2,6 +2,30 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.0 (2020-08-03)
+------------------
+* Warn about unused result of add_on_set_parameters_callback (`#1238 <https://github.com/ros2/rclcpp/issues/1238>`_) (`#1244 <https://github.com/ros2/rclcpp/issues/1244>`_)
+* Add missing RCLCPP_PUBLIC to ~StaticExecutorEntitiesCollector (`#1227 <https://github.com/ros2/rclcpp/issues/1227>`_) (`#1228 <https://github.com/ros2/rclcpp/issues/1228>`_)
+* Remove recreation of entities_collector (`#1217 <https://github.com/ros2/rclcpp/issues/1217>`_) (`#1224 <https://github.com/ros2/rclcpp/issues/1224>`_)
+* Contributors: Jacob Perron, brawner
+
+2.0.2 (2020-07-07)
+------------------
+* Link against thread library where necessary (`#1210 <https://github.com/ros2/rclcpp/issues/1210>`_) (`#1214 <https://github.com/ros2/rclcpp/issues/1214>`_)
+* Fix exception message on rcl_clock_init (`#1182 <https://github.com/ros2/rclcpp/issues/1182>`_) (`#1193 <https://github.com/ros2/rclcpp/issues/1193>`_)
+* Contributors: Dirk Thomas, tomoya
+
+2.0.1 (2020-06-23)
+------------------
+* Add create_publisher include to create_subscription (`#1180 <https://github.com/ros2/rclcpp/issues/1180>`_) (`#1192 <https://github.com/ros2/rclcpp/issues/1192>`_)
+* Fix get_node_time_source_interface() docstring (`#988 <https://github.com/ros2/rclcpp/issues/988>`_) (`#1185 <https://github.com/ros2/rclcpp/issues/1185>`_)
+* Fixed doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_) (`#1191 <https://github.com/ros2/rclcpp/issues/1191>`_)
+* Check if context is valid when looping in spin_some (`#1167 <https://github.com/ros2/rclcpp/issues/1167>`_)
+* Fix spin_until_future_complete: check spinning value (`#1023 <https://github.com/ros2/rclcpp/issues/1023>`_)
+  Make Executor::spin_once_impl private before backporting, to avoid API compatibility issues
+* Add check for invalid topic statistics publish period (`#1151 <https://github.com/ros2/rclcpp/issues/1151>`_) (`#1172 <https://github.com/ros2/rclcpp/issues/1172>`_)
+* Contributors: Alejandro Hernández Cordero, Devin Bonnie, DongheeYe, Ivan Santiago Paunovic, Jacob Perron, Stephen Brawner
+
 2.0.0 (2020-06-01)
 ------------------
 * Added missing virtual destructors. (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)

rclcpp/CMakeLists.txt

@@ -2,6 +2,8 @@ cmake_minimum_required(VERSION 3.5)
 
 project(rclcpp)
 
+find_package(Threads REQUIRED)
+
 find_package(ament_cmake_ros REQUIRED)
 find_package(builtin_interfaces REQUIRED)
 find_package(libstatistics_collector REQUIRED)
@@ -166,6 +168,7 @@ target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
+target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
 # specific order: dependents before dependencies
 ament_target_dependencies(${PROJECT_NAME}
   "libstatistics_collector"

rclcpp/include/rclcpp/clock.hpp

@@ -115,9 +115,9 @@ public:
    *
    * Function is only applicable if the clock_type is `RCL_ROS_TIME`
    *
-   * \param pre_callback. Must be non-throwing
-   * \param post_callback. Must be non-throwing.
-   * \param threshold. Callbacks will be triggered if the time jump is greater
+   * \param pre_callback Must be non-throwing
+   * \param post_callback Must be non-throwing.
+   * \param threshold Callbacks will be triggered if the time jump is greater
    * then the threshold.
    * \throws anything rclcpp::exceptions::throw_from_rcl_error can throw.
    * \throws std::bad_alloc if the allocation of the JumpHandler fails.

rclcpp/include/rclcpp/create_subscription.hpp

@@ -18,6 +18,7 @@
 #include <chrono>
 #include <functional>
 #include <memory>
+#include <stdexcept>
 #include <string>
 #include <utility>
 
@@ -28,6 +29,7 @@
 #include "rclcpp/node_interfaces/node_timers_interface.hpp"
 #include "rclcpp/node_interfaces/node_topics_interface.hpp"
 
+#include "rclcpp/create_publisher.hpp"
 #include "rclcpp/create_timer.hpp"
 #include "rclcpp/qos.hpp"
 #include "rclcpp/subscription_factory.hpp"
@@ -44,6 +46,23 @@ namespace rclcpp
  * 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.
+ *
+ * \tparam MessageT
+ * \tparam CallbackT
+ * \tparam AllocatorT
+ * \tparam CallbackMessageT
+ * \tparam SubscriptionT
+ * \tparam MessageMemoryStrategyT
+ * \tparam NodeT
+ * \param node
+ * \param topic_name
+ * \param qos
+ * \param callback
+ * \param options
+ * \param msg_mem_strat
+ * \return the created subscription
+ * \throws std::invalid_argument if topic statistics is enabled and the publish period is
+ * less than or equal to zero.
  */
 template<
   typename MessageT,
@@ -81,6 +100,13 @@ create_subscription(
       options,
       *node_topics->get_node_base_interface()))
   {
+    if (options.topic_stats_options.publish_period <= std::chrono::milliseconds(0)) {
+      throw std::invalid_argument(
+              "topic_stats_options.publish_period must be greater than 0, specified value of " +
+              std::to_string(options.topic_stats_options.publish_period.count()) +
+              " ms");
+    }
+
     std::shared_ptr<Publisher<statistics_msgs::msg::MetricsMessage>> publisher =
       create_publisher<statistics_msgs::msg::MetricsMessage>(
       node,

rclcpp/include/rclcpp/executor.hpp

@@ -37,6 +37,7 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/scope_exit.hpp"
 
 namespace rclcpp
 {
@@ -212,9 +213,14 @@ public:
     }
     std::chrono::nanoseconds timeout_left = timeout_ns;
 
-    while (rclcpp::ok(this->context_)) {
+    if (spinning.exchange(true)) {
+      throw std::runtime_error("spin_until_future_complete() called while already spinning");
+    }
+    RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
+    while (rclcpp::ok(this->context_) && spinning.load()) {
       // Do one item of work.
-      spin_once(timeout_left);
+      spin_once_impl(timeout_left);
+
       // Check if the future is set, return SUCCESS if it is.
       status = future.wait_for(std::chrono::seconds(0));
       if (status == std::future_status::ready) {
@@ -338,6 +344,11 @@ protected:
 
   std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
   std::list<const rcl_guard_condition_t *> guard_conditions_;
+
+private:
+  RCLCPP_PUBLIC
+  void
+  spin_once_impl(std::chrono::nanoseconds timeout);
 };
 
 namespace executor

rclcpp/include/rclcpp/executors/multi_threaded_executor.hpp

@@ -49,6 +49,7 @@ public:
    * \param number_of_threads number of threads to have in the thread pool,
    *   the default 0 will use the number of cpu cores found instead
    * \param yield_before_execute if true std::this_thread::yield() is called
+   * \param timeout maximum time to wait
    */
   RCLCPP_PUBLIC
   MultiThreadedExecutor(

rclcpp/include/rclcpp/executors/static_executor_entities_collector.hpp

@@ -45,6 +45,7 @@ public:
   StaticExecutorEntitiesCollector() = default;
 
   // Destructor
+  RCLCPP_PUBLIC
   ~StaticExecutorEntitiesCollector();
 
   /// Initialize StaticExecutorEntitiesCollector

rclcpp/include/rclcpp/executors/static_single_threaded_executor.hpp

@@ -162,7 +162,6 @@ public:
     }
     std::chrono::nanoseconds timeout_left = timeout_ns;
 
-    entities_collector_ = std::make_shared<StaticExecutorEntitiesCollector>();
     entities_collector_->init(&wait_set_, memory_strategy_, &interrupt_guard_condition_);
 
     while (rclcpp::ok(this->context_)) {

rclcpp/include/rclcpp/node.hpp

@@ -26,6 +26,8 @@
 #include <utility>
 #include <vector>
 
+#include "rcutils/macros.h"
+
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
 
@@ -235,7 +237,7 @@ public:
   /// Create and return a Client.
   /**
    * \param[in] service_name The topic to service on.
-   * \param[in] rmw_qos_profile_t Quality of service profile for client.
+   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
    * \param[in] group Callback group to call the service.
    * \return Shared pointer to the created client.
    */
@@ -250,7 +252,7 @@ public:
   /**
    * \param[in] service_name The topic to service on.
    * \param[in] callback User-defined callback function.
-   * \param[in] rmw_qos_profile_t Quality of service profile for client.
+   * \param[in] qos_profile rmw_qos_profile_t Quality of service profile for client.
    * \param[in] group Callback group to call the service.
    * \return Shared pointer to the created service.
    */
@@ -812,6 +814,7 @@ public:
    * \throws std::bad_alloc if the allocation of the OnSetParametersCallbackHandle fails.
    */
   RCLCPP_PUBLIC
+  RCUTILS_WARN_UNUSED
   OnSetParametersCallbackHandle::SharedPtr
   add_on_set_parameters_callback(OnParametersSetCallbackType callback);
 
@@ -891,7 +894,8 @@ public:
 
   /// Return the number of publishers that are advertised on a given topic.
   /**
-   * \param[in] topic_name the topic_name on which to count the publishers.
+   * \param[in] node_name the node_name on which to count the publishers.
+   * \param[in] namespace_ the namespace of the node associated with the name
    * \return number of publishers that are advertised on a given topic.
    * \throws std::runtime_error if publishers could not be counted
    */
@@ -1062,7 +1066,7 @@ public:
   rclcpp::node_interfaces::NodeParametersInterface::SharedPtr
   get_node_parameters_interface();
 
-  /// Return the Node's internal NodeParametersInterface implementation.
+  /// Return the Node's internal NodeTimeSourceInterface implementation.
   RCLCPP_PUBLIC
   rclcpp::node_interfaces::NodeTimeSourceInterface::SharedPtr
   get_node_time_source_interface();

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -21,6 +21,8 @@
 #include <string>
 #include <vector>
 
+#include "rcutils/macros.h"
+
 #include "rcl_interfaces/msg/list_parameters_result.hpp"
 #include "rcl_interfaces/msg/parameter_descriptor.hpp"
 #include "rcl_interfaces/msg/parameter_event.hpp"
@@ -160,6 +162,7 @@ public:
   list_parameters(const std::vector<std::string> & prefixes, uint64_t depth) const override;
 
   RCLCPP_PUBLIC
+  RCUTILS_WARN_UNUSED
   OnSetParametersCallbackHandle::SharedPtr
   add_on_set_parameters_callback(OnParametersSetCallbackType callback) override;
 

rclcpp/include/rclcpp/parameter_client.hpp

@@ -48,13 +48,13 @@ public:
 
   /// Create an async parameters client.
   /**
-   * \param node_base_interface[in] The node base interface of the corresponding node.
-   * \param node_topics_interface[in] Node topic base interface.
-   * \param node_graph_interface[in] The node graph interface of the corresponding node.
-   * \param node_services_interface[in] Node service interface.
-   * \param remote_node_name[in] (optional) name of the remote node
-   * \param qos_profile[in] (optional) The rmw qos profile to use to subscribe
-   * \param group[in] (optional)  The async parameter client will be added to this callback group.
+   * \param[in] node_base_interface The node base interface of the corresponding node.
+   * \param[in] node_topics_interface Node topic base interface.
+   * \param[in] node_graph_interface The node graph interface of the corresponding node.
+   * \param[in] node_services_interface Node service interface.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
   RCLCPP_PUBLIC
   AsyncParametersClient(
@@ -68,10 +68,10 @@ public:
 
   /// Constructor
   /**
-   * \param node[in] The  async paramters client will be added to this node.
-   * \param remote_node_name[in] (optional) name of the remote node
-   * \param qos_profile[in] (optional) The rmw qos profile to use to subscribe
-   * \param group[in] (optional)  The async parameter client will be added to this callback group.
+   * \param[in] node The async paramters client will be added to this node.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
   RCLCPP_PUBLIC
   AsyncParametersClient(
@@ -82,10 +82,10 @@ public:
 
   /// Constructor
   /**
-   * \param node[in] The  async paramters client will be added to this node.
-   * \param remote_node_name[in] (optional) name of the remote node
-   * \param qos_profile[in] (optional) The rmw qos profile to use to subscribe
-   * \param group[in] (optional)  The async parameter client will be added to this callback group.
+   * \param[in] node The  async paramters client will be added to this node.
+   * \param[in] remote_node_name (optional) name of the remote node
+   * \param[in] qos_profile (optional) The rmw qos profile to use to subscribe
+   * \param[in] group (optional) The async parameter client will be added to this callback group.
    */
   RCLCPP_PUBLIC
   AsyncParametersClient(

rclcpp/include/rclcpp/serialization.hpp

@@ -60,7 +60,7 @@ public:
 
   /// Serialize a ROS2 message to a serialized stream
   /**
-   * \param[in] message The ROS2 message which is read and serialized by rmw.
+   * \param[in] ros_message The ROS2 message which is read and serialized by rmw.
    * \param[out] serialized_message The serialized message.
    */
   void serialize_message(
@@ -69,7 +69,7 @@ public:
   /// Deserialize a serialized stream to a ROS message
   /**
    * \param[in] serialized_message The serialized message to be converted to ROS2 by rmw.
-   * \param[out] message The deserialized ROS2 message.
+   * \param[out] ros_message The deserialized ROS2 message.
    */
   void deserialize_message(
     const SerializedMessage * serialized_message, void * ros_message) const;

rclcpp/include/rclcpp/service.hpp

@@ -237,7 +237,7 @@ public:
    * rclcpp::create_service().
    *
    * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
-   * \param[in] service_name Name of the topic to publish to.
+   * \param[in] service_handle service handle.
    * \param[in] any_callback User defined callback to call when a client request is received.
    */
   Service(
@@ -272,7 +272,7 @@ public:
    * rclcpp::create_service().
    *
    * \param[in] node_handle NodeBaseInterface pointer that is used in part of the setup.
-   * \param[in] service_name Name of the topic to publish to.
+   * \param[in] service_handle service handle.
    * \param[in] any_callback User defined callback to call when a client request is received.
    */
   Service(

rclcpp/include/rclcpp/subscription_factory.hpp

@@ -68,7 +68,7 @@ struct SubscriptionFactory
  * \param[in] callback The user-defined callback function to receive a message
  * \param[in] options Additional options for the creation of the Subscription.
  * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
- * \param[in] subscription_topic_Optinal stats callback for topic_statistics
+ * \param[in] subscription_topic_stats Optional stats callback for topic_statistics
  */
 template<
   typename MessageT,

rclcpp/include/rclcpp/subscription_options.hpp

@@ -66,7 +66,8 @@ struct SubscriptionOptionsBase
     // Topic to which topic statistics get published when enabled. Defaults to /statistics.
     std::string publish_topic = "/statistics";
 
-    // Topic statistics publication period in ms. Defaults to one minute.
+    // Topic statistics publication period in ms. Defaults to one second.
+    // Only values greater than zero are allowed.
     std::chrono::milliseconds publish_period{std::chrono::seconds(1)};
   };
 

rclcpp/include/rclcpp/time.hpp

@@ -48,7 +48,7 @@ public:
   /// Time constructor
   /**
    * \param nanoseconds since time epoch
-   * \param clock_type clock type
+   * \param clock clock type
    */
   RCLCPP_PUBLIC
   explicit Time(int64_t nanoseconds = 0, rcl_clock_type_t clock = RCL_SYSTEM_TIME);
@@ -60,7 +60,7 @@ public:
   /// Time constructor
   /**
    * \param time_msg builtin_interfaces time message to copy
-   * \param clock_type clock type
+   * \param ros_time clock type
    * \throws std::runtime_error if seconds are negative
    */
   RCLCPP_PUBLIC
@@ -71,7 +71,6 @@ public:
   /// Time constructor
   /**
    * \param time_point rcl_time_point_t structure to copy
-   * \param clock_type clock type
    */
   RCLCPP_PUBLIC
   explicit Time(const rcl_time_point_t & time_point);

rclcpp/include/rclcpp/timer.hpp

@@ -166,6 +166,7 @@ public:
    * \param[in] clock The clock providing the current time.
    * \param[in] period The interval at which the timer fires.
    * \param[in] callback User-specified callback function.
+   * \param[in] context custom context to be used.
    */
   explicit GenericTimer(
     Clock::SharedPtr clock, std::chrono::nanoseconds period, FunctorT && callback,

rclcpp/include/rclcpp/topic_statistics/subscription_topic_statistics.hpp

@@ -116,7 +116,7 @@ public:
 
   /// Set the timer used to publish statistics messages.
   /**
-   * \param measurement_timer the timer to fire the publisher, created by the node
+   * \param publisher_timer the timer to fire the publisher, created by the node
    */
   void set_publisher_timer(rclcpp::TimerBase::SharedPtr publisher_timer)
   {

rclcpp/include/rclcpp/wait_set_template.hpp

@@ -61,6 +61,8 @@ public:
    * \param[in] subscriptions Vector of subscriptions to be added.
    * \param[in] guard_conditions Vector of guard conditions to be added.
    * \param[in] timers Vector of timers to be added.
+   * \param[in] clients Vector of clients and their associated entity to be added.
+   * \param[in] services Vector of services and their associated entity to be added.
    * \param[in] waitables Vector of waitables and their associated entity to be added.
    * \param[in] context Custom context to be used, defaults to global default.
    * \throws std::invalid_argument If context is nullptr.

rclcpp/include/rclcpp/waitable.hpp

@@ -123,7 +123,7 @@ public:
   RCLCPP_PUBLIC
   virtual
   bool
-  is_ready(rcl_wait_set_t *) = 0;
+  is_ready(rcl_wait_set_t * wait_set) = 0;
 
   /// Execute any entities of the Waitable that are ready.
   /**

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>2.0.0</version>
+  <version>2.1.0</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/clock.cpp

@@ -32,7 +32,7 @@ public:
   {
     rcl_ret_t ret = rcl_clock_init(clock_type, &rcl_clock_, &allocator_);
     if (ret != RCL_RET_OK) {
-      exceptions::throw_from_rcl_error(ret, "could not get current time stamp");
+      exceptions::throw_from_rcl_error(ret, "failed to initialize rcl clock");
     }
   }
 

rclcpp/src/rclcpp/executor.cpp

@@ -234,7 +234,7 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
   // non-blocking call to pre-load all available work
   wait_for_work(std::chrono::milliseconds::zero());
-  while (spinning.load() && max_duration_not_elapsed()) {
+  while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
     AnyExecutable any_exec;
     if (get_next_ready_executable(any_exec)) {
       execute_any_executable(any_exec);
@@ -244,6 +244,15 @@ Executor::spin_some(std::chrono::nanoseconds max_duration)
   }
 }
 
+void
+Executor::spin_once_impl(std::chrono::nanoseconds timeout)
+{
+  AnyExecutable any_exec;
+  if (get_next_executable(any_exec, timeout)) {
+    execute_any_executable(any_exec);
+  }
+}
+
 void
 Executor::spin_once(std::chrono::nanoseconds timeout)
 {
@@ -251,10 +260,7 @@ Executor::spin_once(std::chrono::nanoseconds timeout)
     throw std::runtime_error("spin_once() called while already spinning");
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
-  AnyExecutable any_exec;
-  if (get_next_executable(any_exec, timeout)) {
-    execute_any_executable(any_exec);
-  }
+  spin_once_impl(timeout);
 }
 
 void

rclcpp/test/topic_statistics/test_subscription_topic_statistics.cpp

@@ -19,6 +19,7 @@
 #include <iostream>
 #include <memory>
 #include <set>
+#include <stdexcept>
 #include <string>
 #include <vector>
 
@@ -219,6 +220,30 @@ protected:
   }
 };
 
+TEST(TestSubscriptionTopicStatistics, test_invalid_publish_period)
+{
+  rclcpp::init(0 /* argc */, nullptr /* argv */);
+
+  auto node = std::make_shared<rclcpp::Node>("test_period_node");
+
+  auto options = rclcpp::SubscriptionOptions();
+  options.topic_stats_options.state = rclcpp::TopicStatisticsState::Enable;
+  options.topic_stats_options.publish_period = std::chrono::milliseconds(0);
+
+  auto callback = [](Empty::UniquePtr msg) {
+      (void) msg;
+    };
+
+  ASSERT_THROW(
+    (node->create_subscription<Empty, std::function<void(Empty::UniquePtr)>>(
+      "should_throw_invalid_arg",
+      rclcpp::QoS(rclcpp::KeepAll()),
+      callback,
+      options)), std::invalid_argument);
+
+  rclcpp::shutdown();
+}
+
 TEST_F(TestSubscriptionTopicStatisticsFixture, test_manual_construction)
 {
   auto empty_subscriber = std::make_shared<EmptySubscriber>(

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,17 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+2.1.0 (2020-08-03)
+------------------
+
+2.0.2 (2020-07-07)
+------------------
+
+2.0.1 (2020-06-23)
+------------------
+* Fixed doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_) (`#1191 <https://github.com/ros2/rclcpp/issues/1191>`_)
+* Contributors: Alejandro Hernández Cordero
+
 2.0.0 (2020-06-01)
 ------------------
 * Added missing virtual destructors. (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)

rclcpp_action/include/rclcpp_action/create_client.hpp

@@ -30,10 +30,10 @@ namespace rclcpp_action
  * This function is equivalent to \sa create_client()` however is using the individual
  * node interfaces to create the client.
  *
- * \param node_base_interface[in] The node base interface of the corresponding node.
- * \param node_graph_interface[in] The node graph interface of the corresponding node.
- * \param node_logging_interface[in] The node logging interface of the corresponding node.
- * \param node_waitables_interface[in] The node waitables interface of the corresponding node.
+ * \param[in] node_base_interface The node base interface of the corresponding node.
+ * \param[in] node_graph_interface The node graph interface of the corresponding node.
+ * \param[in] node_logging_interface The node logging interface of the corresponding node.
+ * \param[in] node_waitables_interface The node waitables interface of the corresponding node.
  * \param[in] name The action name.
  * \param[in] group The action client will be added to this callback group.
  *   If `nullptr`, then the action client is added to the default callback group.

rclcpp_action/include/rclcpp_action/create_server.hpp

@@ -39,18 +39,18 @@ namespace rclcpp_action
  *
  * \sa Server::Server() for more information.
  *
- * \param node_base_interface[in] The node base interface of the corresponding node.
- * \param node_clock_interface[in] The node clock interface of the corresponding node.
- * \param node_logging_interface[in] The node logging interface of the corresponding node.
- * \param node_waitables_interface[in] The node waitables interface of the corresponding node.
- * \param name[in] The action name.
+ * \param[in] node_base_interface The node base interface of the corresponding node.
+ * \param[in] node_clock_interface The node clock interface of the corresponding node.
+ * \param[in] node_logging_interface The node logging interface of the corresponding node.
+ * \param[in] node_waitables_interface The node waitables interface of the corresponding node.
+ * \param[in] name The action name.
  * \param[in] handle_goal A callback that decides if a goal should be accepted or rejected.
  * \param[in] handle_cancel A callback that decides if a goal should be attempted to be canceled.
  *  The return from this callback only indicates if the server will try to cancel a goal.
  *  It does not indicate if the goal was actually canceled.
  * \param[in] handle_accepted A callback that is called to give the user a handle to the goal.
  * \param[in] options options to pass to the underlying `rcl_action_server_t`.
- * \param group[in] The action server will be added to this callback group.
+ * \param[in] group The action server will be added to this callback group.
  *   If `nullptr`, then the action server is added to the default callback group.
  */
 template<typename ActionT>
@@ -117,15 +117,15 @@ create_server(
  *
  * \sa Server::Server() for more information.
  *
- * \param node[in] The action server will be added to this node.
- * \param name[in] The action name.
+ * \param[in] node] The action server will be added to this node.
+ * \param[in] name The action name.
  * \param[in] handle_goal A callback that decides if a goal should be accepted or rejected.
  * \param[in] handle_cancel A callback that decides if a goal should be attempted to be canceled.
  *  The return from this callback only indicates if the server will try to cancel a goal.
  *  It does not indicate if the goal was actually canceled.
  * \param[in] handle_accepted A callback that is called to give the user a handle to the goal.
  * \param[in] options options to pass to the underlying `rcl_action_server_t`.
- * \param group[in] The action server will be added to this callback group.
+ * \param[in] group The action server will be added to this callback group.
  *   If `nullptr`, then the action server is added to the default callback group.
  */
 template<typename ActionT, typename NodeT>

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>2.0.0</version>
+  <version>2.1.0</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

@@ -2,10 +2,19 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.1.0 (2020-08-03)
+------------------
+
+2.0.2 (2020-07-07)
+------------------
+
+2.0.1 (2020-06-23)
+------------------
+
 2.0.0 (2020-06-01)
 ------------------
-* Added missing virtual destructors. (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)
-* Add Security Vulnerability Policy pointing to REP-2006. (`#1130 <https://github.com/ros2/rclcpp/issues/1130>`_)
+* Added missing virtual destructors (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)
+* Add Security Vulnerability Policy pointing to REP-2006 (`#1130 <https://github.com/ros2/rclcpp/issues/1130>`_)
 * Contributors: Chris Lalancette, Ivan Santiago Paunovic
 
 1.1.0 (2020-05-26)

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>2.0.0</version>
+  <version>2.1.0</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

@@ -3,6 +3,19 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+2.1.0 (2020-08-03)
+------------------
+* Warn about unused result of add_on_set_parameters_callback (`#1238 <https://github.com/ros2/rclcpp/issues/1238>`_) (`#1244 <https://github.com/ros2/rclcpp/issues/1244>`_)
+* Contributors: Jacob Perron
+
+2.0.2 (2020-07-07)
+------------------
+
+2.0.1 (2020-06-23)
+------------------
+* Fixed doxygen warnings (`#1163 <https://github.com/ros2/rclcpp/issues/1163>`_) (`#1191 <https://github.com/ros2/rclcpp/issues/1191>`_)
+* Contributors: Alejandro Hernández Cordero
+
 2.0.0 (2020-06-01)
 ------------------
 * Added missing virtual destructors. (`#1149 <https://github.com/ros2/rclcpp/issues/1149>`_)

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -42,6 +42,8 @@
 #include <utility>
 #include <vector>
 
+#include "rcutils/macros.h"
+
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
 
@@ -124,7 +126,6 @@ public:
   /// Create a new lifecycle node with the specified name.
   /**
    * \param[in] node_name Name of the node.
-   * \param[in] namespace_ Namespace of the node.
    * \param[in] options Additional options to control creation of the node.
    */
   RCLCPP_LIFECYCLE_PUBLIC
@@ -457,6 +458,7 @@ public:
    * \sa rclcpp::Node::add_on_set_parameters_callback
    */
   RCLCPP_LIFECYCLE_PUBLIC
+  RCUTILS_WARN_UNUSED
   rclcpp_lifecycle::LifecycleNode::OnSetParametersCallbackHandle::SharedPtr
   add_on_set_parameters_callback(
     rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback);

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>2.0.0</version>
+  <version>2.1.0</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="karsten@osrfoundation.org">Karsten Knese</maintainer>
   <license>Apache License 2.0</license>