0.7.6

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

rclcpp/CHANGELOG.rst

@@ -2,6 +2,13 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.6 (2019-06-12)
+------------------
+* Ignore parameters overrides in set parameter methods when allowing undeclared parameters (`#756 <https://github.com/ros2/rclcpp/issues/756>`_)
+* Add rclcpp::create_timer() (`#757 <https://github.com/ros2/rclcpp/issues/757>`_)
+* checking origin of intra-process msg before taking them (`#753 <https://github.com/ros2/rclcpp/issues/753>`_)
+* Contributors: Alberto Soragna, Shane Loretz, ivanpauno
+
 0.7.5 (2019-05-30)
 ------------------
 * Avoid 'Intra process message no longer being stored when trying to handle it' warning (`#749 <https://github.com/ros2/rclcpp/issues/749>`_)

rclcpp/CMakeLists.txt

@@ -155,6 +155,18 @@ if(BUILD_TESTING)
     )
     target_link_libraries(test_client ${PROJECT_NAME})
   endif()
+  ament_add_gtest(test_create_timer test/test_create_timer.cpp)
+  if(TARGET test_create_timer)
+    ament_target_dependencies(test_create_timer
+      "rcl_interfaces"
+      "rmw"
+      "rcl"
+      "rosidl_generator_cpp"
+      "rosidl_typesupport_cpp"
+    )
+    target_link_libraries(test_create_timer ${PROJECT_NAME})
+    target_include_directories(test_create_timer PRIVATE test/)
+  endif()
   ament_add_gtest(test_expand_topic_or_service_name test/test_expand_topic_or_service_name.cpp)
   if(TARGET test_expand_topic_or_service_name)
     ament_target_dependencies(test_expand_topic_or_service_name

rclcpp/include/rclcpp/create_timer.hpp

@@ -0,0 +1,73 @@
+// 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.
+
+#ifndef RCLCPP__CREATE_TIMER_HPP_
+#define RCLCPP__CREATE_TIMER_HPP_
+
+#include <memory>
+#include <string>
+#include <utility>
+
+#include "rclcpp/duration.hpp"
+# include "rclcpp/node_interfaces/get_node_base_interface.hpp"
+# include "rclcpp/node_interfaces/get_node_timers_interface.hpp"
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+#include "rclcpp/node_interfaces/node_timers_interface.hpp"
+
+namespace rclcpp
+{
+/// Create a timer with a given clock
+/// \internal
+template<typename CallbackT>
+typename rclcpp::TimerBase::SharedPtr
+create_timer(
+  node_interfaces::NodeBaseInterface * node_base,
+  node_interfaces::NodeTimersInterface * node_timers,
+  rclcpp::Clock::SharedPtr clock,
+  rclcpp::Duration period,
+  CallbackT && callback,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
+{
+  auto timer = rclcpp::GenericTimer<CallbackT>::make_shared(
+    clock,
+    period.to_chrono<std::chrono::nanoseconds>(),
+    std::forward<CallbackT>(callback),
+    node_base->get_context());
+
+  node_timers->add_timer(timer, group);
+  return timer;
+}
+
+/// Create a timer with a given clock
+template<typename NodeT, typename CallbackT>
+typename rclcpp::TimerBase::SharedPtr
+create_timer(
+  NodeT node,
+  rclcpp::Clock::SharedPtr clock,
+  rclcpp::Duration period,
+  CallbackT && callback,
+  rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr)
+{
+  return create_timer(
+    rclcpp::node_interfaces::get_node_base_interface(node),
+    rclcpp::node_interfaces::get_node_timers_interface(node),
+    clock,
+    period,
+    std::forward<CallbackT>(callback),
+    group);
+}
+
+}  // namespace rclcpp
+
+#endif  // RCLCPP__CREATE_TIMER_HPP_

rclcpp/include/rclcpp/node.hpp

@@ -516,6 +516,7 @@ public:
    * rclcpp::NodeOptions::allow_undeclared_parameters set to true.
    * If undeclared parameters are allowed, then the parameter is implicitly
    * declared with the default parameter meta data before being set.
+   * Parameter overrides are ignored by set_parameter.
    *
    * This method will result in any callback registered with
    * set_on_parameters_set_callback to be called.

rclcpp/include/rclcpp/node_interfaces/get_node_base_interface.hpp

@@ -0,0 +1,147 @@
+// 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.
+
+#ifndef RCLCPP__NODE_INTERFACES__GET_NODE_BASE_INTERFACE_HPP_
+#define RCLCPP__NODE_INTERFACES__GET_NODE_BASE_INTERFACE_HPP_
+
+#include <memory>
+#include <utility>
+#include <type_traits>
+
+#include "rclcpp/node_interfaces/node_base_interface.hpp"
+
+/// This header provides the get_node_base_interface() template function.
+/**
+ * This function is useful for getting the NodeBaseInterface pointer from
+ * various kinds of Node-like classes.
+ *
+ * It's able to get the NodeBaseInterface pointer so long as the class
+ * has a method called ``get_node_base_interface()`` which returns
+ * either a pointer (const or not) to a NodeBaseInterface or a
+ * std::shared_ptr to a NodeBaseInterface.
+ */
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+namespace detail
+{
+
+// This is a meta-programming checker for if a given Node-like object has a
+// getter called get_node_base_interface() which returns various types,
+// e.g. const pointer or a shared pointer.
+template<typename NodeType, typename ReturnType>
+struct has_get_node_base_interface
+{
+private:
+  template<typename T>
+  static constexpr
+  auto
+  check(T *)->typename std::is_same<
+    decltype(std::declval<T>().get_node_base_interface()),
+    ReturnType
+  >::type;
+
+  template<typename>
+  static constexpr
+  std::false_type
+  check(...);
+
+public:
+  using type = decltype(check<NodeType>(nullptr));
+  static constexpr bool value = type::value;
+};
+
+// If NodeType is a pointer to NodeBaseInterface already (just normal function overload).
+inline
+rclcpp::node_interfaces::NodeBaseInterface *
+get_node_base_interface_from_pointer(rclcpp::node_interfaces::NodeBaseInterface * pointer)
+{
+  return pointer;
+}
+
+// If NodeType has a method called get_node_base_interface() which returns a shared pointer.
+template<
+  typename NodeType,
+  typename std::enable_if<has_get_node_base_interface<
+    typename std::remove_pointer<NodeType>::type,
+    std::shared_ptr<rclcpp::node_interfaces::NodeBaseInterface>
+  >::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeBaseInterface *
+get_node_base_interface_from_pointer(NodeType node_pointer)
+{
+  return node_pointer->get_node_base_interface().get();
+}
+
+// If NodeType has a method called get_node_base_interface() which returns a pointer.
+template<
+  typename NodeType,
+  typename std::enable_if<has_get_node_base_interface<
+    typename std::remove_pointer<NodeType>::type,
+    rclcpp::node_interfaces::NodeBaseInterface *
+  >::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeBaseInterface *
+get_node_base_interface_from_pointer(NodeType node_pointer)
+{
+  return node_pointer->get_node_base_interface();
+}
+
+// Forward shared_ptr's to const node pointer signatures.
+template<
+  typename NodeType,
+  typename std::enable_if<std::is_same<
+    NodeType,
+    typename std::shared_ptr<typename std::remove_pointer<NodeType>::type::element_type> *
+  >::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeBaseInterface *
+get_node_base_interface_from_pointer(NodeType node_shared_pointer)
+{
+  return get_node_base_interface_from_pointer(node_shared_pointer->get());
+}
+
+}  // namespace detail
+
+/// Get the NodeBaseInterface as a pointer from a pointer to a "Node like" object.
+template<
+  typename NodeType,
+  typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeBaseInterface *
+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));
+}
+
+/// 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
+>
+rclcpp::node_interfaces::NodeBaseInterface *
+get_node_base_interface(NodeType && node_reference)
+{
+  // Forward references to detail implmentation as a pointer.
+  return detail::get_node_base_interface_from_pointer(&node_reference);
+}
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__GET_NODE_BASE_INTERFACE_HPP_

rclcpp/include/rclcpp/node_interfaces/get_node_timers_interface.hpp

@@ -0,0 +1,147 @@
+// 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.
+
+#ifndef RCLCPP__NODE_INTERFACES__GET_NODE_TIMERS_INTERFACE_HPP_
+#define RCLCPP__NODE_INTERFACES__GET_NODE_TIMERS_INTERFACE_HPP_
+
+#include <memory>
+#include <utility>
+#include <type_traits>
+
+#include "rclcpp/node_interfaces/node_timers_interface.hpp"
+
+/// This header provides the get_node_timers_interface() template function.
+/**
+ * This function is useful for getting the NodeTimersInterface pointer from
+ * various kinds of Node-like classes.
+ *
+ * It's able to get the NodeTimersInterface pointer so long as the class
+ * has a method called ``get_node_timers_interface()`` which returns
+ * either a pointer (const or not) to a NodeTimersInterface or a
+ * std::shared_ptr to a NodeTimersInterface.
+ */
+
+namespace rclcpp
+{
+namespace node_interfaces
+{
+
+namespace detail
+{
+
+// This is a meta-programming checker for if a given Node-like object has a
+// getter called get_node_timers_interface() which returns various types,
+// e.g. const pointer or a shared pointer.
+template<typename NodeType, typename ReturnType>
+struct has_get_node_timers_interface
+{
+private:
+  template<typename T>
+  static constexpr
+  auto
+  check(T *)->typename std::is_same<
+    decltype(std::declval<T>().get_node_timers_interface()),
+    ReturnType
+  >::type;
+
+  template<typename>
+  static constexpr
+  std::false_type
+  check(...);
+
+public:
+  using type = decltype(check<NodeType>(nullptr));
+  static constexpr bool value = type::value;
+};
+
+// If NodeType is a pointer to NodeTimersInterface already (just normal function overload).
+inline
+rclcpp::node_interfaces::NodeTimersInterface *
+get_node_timers_interface_from_pointer(rclcpp::node_interfaces::NodeTimersInterface * pointer)
+{
+  return pointer;
+}
+
+// If NodeType has a method called get_node_timers_interface() which returns a shared pointer.
+template<
+  typename NodeType,
+  typename std::enable_if<has_get_node_timers_interface<
+    typename std::remove_pointer<NodeType>::type,
+    std::shared_ptr<rclcpp::node_interfaces::NodeTimersInterface>
+  >::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeTimersInterface *
+get_node_timers_interface_from_pointer(NodeType node_pointer)
+{
+  return node_pointer->get_node_timers_interface().get();
+}
+
+// If NodeType has a method called get_node_timers_interface() which returns a pointer.
+template<
+  typename NodeType,
+  typename std::enable_if<has_get_node_timers_interface<
+    typename std::remove_pointer<NodeType>::type,
+    rclcpp::node_interfaces::NodeTimersInterface *
+  >::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeTimersInterface *
+get_node_timers_interface_from_pointer(NodeType node_pointer)
+{
+  return node_pointer->get_node_timers_interface();
+}
+
+// Forward shared_ptr's to const node pointer signatures.
+template<
+  typename NodeType,
+  typename std::enable_if<std::is_same<
+    NodeType,
+    typename std::shared_ptr<typename std::remove_pointer<NodeType>::type::element_type> *
+  >::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeTimersInterface *
+get_node_timers_interface_from_pointer(NodeType node_shared_pointer)
+{
+  return get_node_timers_interface_from_pointer(node_shared_pointer->get());
+}
+
+}  // namespace detail
+
+/// Get the NodeTimersInterface as a pointer from a pointer to a "Node like" object.
+template<
+  typename NodeType,
+  typename std::enable_if<std::is_pointer<NodeType>::value, int>::type = 0
+>
+rclcpp::node_interfaces::NodeTimersInterface *
+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));
+}
+
+/// 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
+>
+rclcpp::node_interfaces::NodeTimersInterface *
+get_node_timers_interface(NodeType && node_reference)
+{
+  // Forward references to detail implmentation as a pointer.
+  return detail::get_node_timers_interface_from_pointer(&node_reference);
+}
+
+}  // namespace node_interfaces
+}  // namespace rclcpp
+
+#endif  // RCLCPP__NODE_INTERFACES__GET_NODE_TIMERS_INTERFACE_HPP_

rclcpp/include/rclcpp/subscription.hpp

@@ -170,6 +170,13 @@ public:
       // However, this can only really happen if this node has it disabled, but the other doesn't.
       return;
     }
+
+    if (!matches_any_intra_process_publishers(&message_info.publisher_gid)) {
+      // This intra-process message has not been created by a publisher from this context.
+      // we should ignore this copy of the message.
+      return;
+    }
+
     if (any_callback_.use_take_shared_method()) {
       ConstMessageSharedPtr msg;
       take_intra_process_message(

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>0.7.5</version>
+  <version>0.7.6</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/node_interfaces/node_parameters.cpp

@@ -330,19 +330,20 @@ __declare_parameter_common(
   const rclcpp::ParameterValue & default_value,
   const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor,
   std::map<std::string, rclcpp::node_interfaces::ParameterInfo> & parameters_out,
-  const std::map<std::string, rclcpp::ParameterValue> & initial_values,
+  const std::map<std::string, rclcpp::ParameterValue> & overrides,
   OnParametersSetCallbackType on_set_parameters_callback,
-  rcl_interfaces::msg::ParameterEvent * parameter_event_out)
+  rcl_interfaces::msg::ParameterEvent * parameter_event_out,
+  bool use_overrides = true)
 {
   using rclcpp::node_interfaces::ParameterInfo;
   std::map<std::string, ParameterInfo> parameter_infos {{name, ParameterInfo()}};
   parameter_infos.at(name).descriptor = parameter_descriptor;
 
-  // Use the value from the initial_values if available, otherwise use the default.
+  // Use the value from the overrides if available, otherwise use the default.
   const rclcpp::ParameterValue * initial_value = &default_value;
-  auto initial_value_it = initial_values.find(name);
-  if (initial_value_it != initial_values.end()) {
-    initial_value = &initial_value_it->second;
+  auto overrides_it = overrides.find(name);
+  if (use_overrides && overrides_it != overrides.end()) {
+    initial_value = &overrides_it->second;
   }
 
   // Check with the user's callback to see if the initial value can be set.
@@ -522,7 +523,8 @@ NodeParameters::set_parameters_atomically(const std::vector<rclcpp::Parameter> &
       staged_parameter_changes,
       parameter_overrides_,
       nullptr,  // callback is explicitly null, so that it is called only once, when setting below.
-      &parameter_event_msg);
+      &parameter_event_msg,
+      false);
     if (!result.successful) {
       // Declare failed, return knowing that nothing was changed because the
       // staged changes were not applied.

rclcpp/test/test_create_timer.cpp

@@ -0,0 +1,63 @@
+// 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 <gtest/gtest.h>
+
+#include <atomic>
+#include <chrono>
+#include <memory>
+
+#include "rclcpp/create_timer.hpp"
+#include "rclcpp/executors.hpp"
+#include "rclcpp/node.hpp"
+#include "node_interfaces/node_wrapper.hpp"
+
+using namespace std::chrono_literals;
+
+TEST(TestCreateTimer, timer_executes)
+{
+  rclcpp::init(0, nullptr);
+  auto node = std::make_shared<rclcpp::Node>("test_create_timer_node");
+
+  std::atomic<bool> got_callback{false};
+
+  rclcpp::TimerBase::SharedPtr timer;
+  timer = rclcpp::create_timer(
+    node,
+    node->get_clock(),
+    rclcpp::Duration(0ms),
+    [&got_callback, &timer]() {
+      got_callback = true;
+      timer->cancel();
+    });
+
+  rclcpp::spin_some(node);
+
+  ASSERT_TRUE(got_callback);
+  rclcpp::shutdown();
+}
+
+TEST(TestCreateTimer, call_with_node_wrapper_compiles)
+{
+  rclcpp::init(0, nullptr);
+  NodeWrapper node("test_create_timer_call_with_node_wrapper_compiles");
+
+  rclcpp::TimerBase::SharedPtr timer;
+  timer = rclcpp::create_timer(
+    node,
+    node.get_node_clock_interface()->get_clock(),
+    rclcpp::Duration(0ms),
+    []() {});
+  rclcpp::shutdown();
+}

rclcpp/test/test_node.cpp

@@ -1066,9 +1066,20 @@ TEST_F(TestNode, set_parameter_undeclared_parameters_not_allowed) {
 }
 
 TEST_F(TestNode, set_parameter_undeclared_parameters_allowed) {
-  auto node = std::make_shared<rclcpp::Node>(
-    "test_set_parameter_node"_unq,
-    rclcpp::NodeOptions().allow_undeclared_parameters(true));
+  rclcpp::NodeOptions no;
+  no.parameter_overrides({
+    {"parameter_with_override", 30},
+  });
+  no.allow_undeclared_parameters(true);
+  auto node = std::make_shared<rclcpp::Node>("test_set_parameter_node"_unq, no);
+  {
+    // overrides are ignored when not declaring a parameter
+    auto name = "parameter_with_override";
+    EXPECT_FALSE(node->has_parameter(name));
+    EXPECT_TRUE(node->set_parameter(rclcpp::Parameter(name, 43)).successful);
+    EXPECT_TRUE(node->has_parameter(name));
+    EXPECT_EQ(node->get_parameter(name).get_value<int>(), 43);
+  }
   {
     // normal use (declare first) still works with this true
     auto name = "parameter"_unq;

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,9 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+0.7.6 (2019-06-12)
+------------------
+
 0.7.5 (2019-05-30)
 ------------------
 

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>0.7.5</version>
+  <version>0.7.6</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

@@ -2,6 +2,9 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.6 (2019-06-12)
+------------------
+
 0.7.5 (2019-05-30)
 ------------------
 

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>0.7.5</version>
+  <version>0.7.6</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 +3,9 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+0.7.6 (2019-06-12)
+------------------
+
 0.7.5 (2019-05-30)
 ------------------
 

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>0.7.5</version>
+  <version>0.7.6</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="karsten@osrfoundation.org">Karsten Knese</maintainer>
   <license>Apache License 2.0</license>