0.6.5

As documented in rcl_action, a return code of RCL_RET_ACTION_CLIENT_TAKE_FAILED does not mean that
an error occurred.

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

rclcpp/CHANGELOG.rst

@@ -2,6 +2,20 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.5 (2019-12-05)
+------------------
+
+0.6.4 (2019-04-06)
+------------------
+
+0.6.3 (2019-02-08)
+------------------
+* Added the ability to get parameters in a map. (`#575 <https://github.com/ros2/rclcpp/issues/575>`_)
+  * Backported by (`#619 <https://github.com/ros2/rclcpp/issues/619>`_) for Crystal.
+* Fix errors from uncrustify v0.68 (`#613 <https://github.com/ros2/rclcpp/issues/613>`_)
+  * Backported by `#616 <https://github.com/ros2/rclcpp/issues/616>`_ for Crystal.
+* Contributors: Chris Lalancette, Jacob Perron, Steven! Ragnarök
+
 0.6.2 (2018-12-13)
 ------------------
 * Updated to use signal safe synchronization with platform specific semaphores (`#607 <https://github.com/ros2/rclcpp/issues/607>`_)

rclcpp/CMakeLists.txt

@@ -401,6 +401,17 @@ if(BUILD_TESTING)
       "rcl")
     target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
   endif()
+
+  ament_add_gtest(test_local_parameters test/test_local_parameters.cpp)
+  if(TARGET test_local_parameters)
+    target_include_directories(test_local_parameters PUBLIC
+      ${rcl_interfaces_INCLUDE_DIRS}
+      ${rmw_INCLUDE_DIRS}
+      ${rosidl_generator_cpp_INCLUDE_DIRS}
+      ${rosidl_typesupport_cpp_INCLUDE_DIRS}
+    )
+    target_link_libraries(test_local_parameters ${PROJECT_NAME})
+  endif()
 endif()
 
 ament_package(

rclcpp/include/rclcpp/function_traits.hpp

@@ -49,14 +49,14 @@ template<typename FunctionT>
 struct function_traits
 {
   using arguments = typename tuple_tail<
-    typename function_traits<decltype( & FunctionT::operator())>::arguments>::type;
+    typename function_traits<decltype( &FunctionT::operator())>::arguments>::type;
 
   static constexpr std::size_t arity = std::tuple_size<arguments>::value;
 
   template<std::size_t N>
   using argument_type = typename std::tuple_element<N, arguments>::type;
 
-  using return_type = typename function_traits<decltype( & FunctionT::operator())>::return_type;
+  using return_type = typename function_traits<decltype( &FunctionT::operator())>::return_type;
 };
 
 // Free functions

rclcpp/include/rclcpp/node.hpp

@@ -279,6 +279,20 @@ public:
     const std::string & name,
     const ParameterT & value);
 
+  /// Set a map of parameters with the same prefix.
+  /**
+   * For each key in the map, a parameter with a name of "name.key" will be set
+   * to the value in the map.
+   *
+   * \param[in] name The prefix of the parameters to set.
+   * \param[in] values The parameters to set in the given prefix.
+   */
+  template<typename MapValueT>
+  void
+  set_parameters_if_not_set(
+    const std::string & name,
+    const std::map<std::string, MapValueT> & values);
+
   RCLCPP_PUBLIC
   std::vector<rclcpp::Parameter>
   get_parameters(const std::vector<std::string> & names) const;
@@ -305,6 +319,24 @@ public:
   bool
   get_parameter(const std::string & name, ParameterT & parameter) const;
 
+  /// Assign the value of the map parameter if set into the values argument.
+  /**
+   * Parameter names that are part of a map are of the form "name.member".
+   * This API gets all parameters that begin with "name", storing them into the
+   * map with the name of the parameter and their value.
+   * If there are no members in the named map, then the "values" argument is not changed.
+   *
+   * \param[in] name The prefix of the parameters to get.
+   * \param[out] values The map of output values, with one std::string,MapValueT
+   *                    per parameter.
+   * \returns true if values was changed, false otherwise
+   */
+  template<typename MapValueT>
+  bool
+  get_parameters(
+    const std::string & name,
+    std::map<std::string, MapValueT> & values) const;
+
   /// Get the parameter value, or the "alternative value" if not set, and assign it to "value".
   /**
    * If the parameter was not set, then the "value" argument is assigned

rclcpp/include/rclcpp/node_impl.hpp

@@ -224,6 +224,28 @@ Node::set_parameter_if_not_set(
   }
 }
 
+// this is a partially-specialized version of set_parameter_if_not_set above,
+// where our concrete type for ParameterT is std::map, but the to-be-determined
+// type is the value in the map.
+template<typename MapValueT>
+void
+Node::set_parameters_if_not_set(
+  const std::string & name,
+  const std::map<std::string, MapValueT> & values)
+{
+  std::vector<rclcpp::Parameter> params;
+
+  for (const auto & val : values) {
+    std::string param_name = name + "." + val.first;
+    rclcpp::Parameter parameter;
+    if (!this->get_parameter(param_name, parameter)) {
+      params.push_back(rclcpp::Parameter(param_name, val.second));
+    }
+  }
+
+  this->set_parameters(params);
+}
+
 template<typename ParameterT>
 bool
 Node::get_parameter(const std::string & name, ParameterT & value) const
@@ -237,6 +259,28 @@ Node::get_parameter(const std::string & name, ParameterT & value) const
   return result;
 }
 
+// this is a partially-specialized version of get_parameter above,
+// where our concrete type for ParameterT is std::map, but the to-be-determined
+// type is the value in the map.
+template<typename MapValueT>
+bool
+Node::get_parameters(
+  const std::string & name,
+  std::map<std::string, MapValueT> & values) const
+{
+  bool retval = false;
+  std::vector<std::string> prefix{name};
+  std::string name_with_dot = name + ".";
+  rcl_interfaces::msg::ListParametersResult result = node_parameters_->list_parameters(prefix, 0);
+  for (const auto & param : result.names) {
+    values[param.substr(name_with_dot.length())] =
+      node_parameters_->get_parameter(param).get_value<MapValueT>();
+    retval = true;
+  }
+
+  return retval;
+}
+
 template<typename ParameterT>
 bool
 Node::get_parameter_or(

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>0.6.2</version>
+  <version>0.6.5</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp/test/test_local_parameters.cpp

@@ -0,0 +1,71 @@
+// Copyright 2018 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 <cstdio>
+#include <map>
+#include <string>
+
+#include "gtest/gtest.h"
+
+#include "rclcpp/rclcpp.hpp"
+
+TEST(test_local_parameters, set_parameter_if_not_set) {
+  auto node = rclcpp::Node::make_shared("test_local_parameters_set_parameter_if_not_set");
+
+  {
+    // try to set a map of parameters
+    std::map<std::string, double> bar_map{
+      {"x", 0.5},
+      {"y", 1.0},
+    };
+    node->set_parameters_if_not_set("bar", bar_map);
+    double bar_x_value;
+    ASSERT_TRUE(node->get_parameter("bar.x", bar_x_value));
+    EXPECT_EQ(bar_x_value, 0.5);
+    double bar_y_value;
+    ASSERT_TRUE(node->get_parameter("bar.y", bar_y_value));
+    EXPECT_EQ(bar_y_value, 1.0);
+    std::map<std::string, double> new_map;
+    ASSERT_TRUE(node->get_parameters("bar", new_map));
+    ASSERT_EQ(new_map.size(), 2U);
+    EXPECT_EQ(new_map["x"], 0.5);
+    EXPECT_EQ(new_map["y"], 1.0);
+  }
+
+  {
+    // try to get a map of parameters that doesn't exist
+    std::map<std::string, double> no_exist_map;
+    ASSERT_FALSE(node->get_parameters("no_exist", no_exist_map));
+  }
+
+  {
+    // set parameters for a map with different types, then try to get them back as a map
+    node->set_parameter_if_not_set("baz.x", 1.0);
+    node->set_parameter_if_not_set("baz.y", "hello");
+    std::map<std::string, double> baz_map;
+    EXPECT_THROW(node->get_parameters("baz", baz_map), rclcpp::ParameterTypeException);
+  }
+}
+
+int main(int argc, char ** argv)
+{
+  ::setvbuf(stdout, NULL, _IONBF, BUFSIZ);
+
+  // NOTE: use custom main to ensure that rclcpp::init is called only once
+  rclcpp::init(argc, argv);
+  ::testing::InitGoogleTest(&argc, argv);
+  int ret = RUN_ALL_TESTS();
+  rclcpp::shutdown();
+  return ret;
+}

rclcpp_action/CHANGELOG.rst

@@ -2,6 +2,19 @@
 Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.5 (2019-12-05)
+------------------
+* Do not throw exception in action client if take fails (`#888 <https://github.com/ros2/rclcpp/issues/888>`_) (`#905 <https://github.com/ros2/rclcpp/issues/905>`_)
+* Contributors: Jacob Perron
+
+0.6.4 (2019-04-05)
+------------------
+* Wait for action server before sending goal (`#686 <https://github.com/ros2/rclcpp/issues/686>`_)
+* Contributors: Jacob Perron, Shane Loretz
+
+0.6.3 (2019-02-08)
+------------------
+
 0.6.2 (2018-12-13)
 ------------------
 

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>0.6.2</version>
+  <version>0.6.5</version>
   <description>Adds action APIs for C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp_action/src/client.cpp

@@ -388,20 +388,20 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_feedback(
       pimpl_->client_handle.get(), feedback_message.get());
     pimpl_->is_feedback_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking feedback");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_feedback_message(feedback_message);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking feedback");
     }
   } else if (pimpl_->is_status_ready) {
     std::shared_ptr<void> status_message = this->create_status_message();
     rcl_ret_t ret = rcl_action_take_status(
       pimpl_->client_handle.get(), status_message.get());
     pimpl_->is_status_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking status");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_status_message(status_message);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking status");
     }
   } else if (pimpl_->is_goal_response_ready) {
     rmw_request_id_t response_header;
@@ -409,10 +409,10 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_goal_response(
       pimpl_->client_handle.get(), &response_header, goal_response.get());
     pimpl_->is_goal_response_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking goal response");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_goal_response(response_header, goal_response);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking goal response");
     }
   } else if (pimpl_->is_result_response_ready) {
     rmw_request_id_t response_header;
@@ -420,10 +420,10 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_result_response(
       pimpl_->client_handle.get(), &response_header, result_response.get());
     pimpl_->is_result_response_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking result response");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_result_response(response_header, result_response);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking result response");
     }
   } else if (pimpl_->is_cancel_response_ready) {
     rmw_request_id_t response_header;
@@ -431,10 +431,10 @@ ClientBase::execute()
     rcl_ret_t ret = rcl_action_take_cancel_response(
       pimpl_->client_handle.get(), &response_header, cancel_response.get());
     pimpl_->is_cancel_response_ready = false;
-    if (RCL_RET_OK != ret) {
-      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking cancel response");
-    } else {
+    if (RCL_RET_OK == ret) {
       this->handle_cancel_response(response_header, cancel_response);
+    } else if (RCL_RET_ACTION_CLIENT_TAKE_FAILED != ret) {
+      rclcpp::exceptions::throw_from_rcl_error(ret, "error taking cancel response");
     }
   } else {
     throw std::runtime_error("Executing action client but nothing is ready");

rclcpp_action/test/test_client.cpp

@@ -47,6 +47,8 @@
 
 using namespace std::chrono_literals;
 
+const auto WAIT_FOR_SERVER_TIMEOUT = 10s;
+
 class TestClient : public ::testing::Test
 {
 protected:
@@ -269,6 +271,7 @@ TEST_F(TestClient, construction_and_destruction)
 TEST_F(TestClient, async_send_goal_but_ignore_feedback_and_result)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
+  ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
 
   ActionGoal bad_goal;
   bad_goal.order = -5;
@@ -290,6 +293,7 @@ TEST_F(TestClient, async_send_goal_but_ignore_feedback_and_result)
 TEST_F(TestClient, async_send_goal_and_ignore_feedback_but_wait_for_result)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
+  ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
 
   ActionGoal goal;
   goal.order = 5;
@@ -311,6 +315,7 @@ TEST_F(TestClient, async_send_goal_and_ignore_feedback_but_wait_for_result)
 TEST_F(TestClient, async_send_goal_with_feedback_and_result)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
+  ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
 
   ActionGoal goal;
   goal.order = 4;
@@ -342,6 +347,7 @@ TEST_F(TestClient, async_send_goal_with_feedback_and_result)
 TEST_F(TestClient, async_cancel_one_goal)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
+  ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
 
   ActionGoal goal;
   goal.order = 5;
@@ -359,6 +365,7 @@ TEST_F(TestClient, async_cancel_one_goal)
 TEST_F(TestClient, async_cancel_all_goals)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
+  ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
 
   ActionGoal goal;
   goal.order = 6;
@@ -393,6 +400,7 @@ TEST_F(TestClient, async_cancel_all_goals)
 TEST_F(TestClient, async_cancel_some_goals)
 {
   auto action_client = rclcpp_action::create_client<ActionType>(client_node, action_name);
+  ASSERT_TRUE(action_client->wait_for_action_server(WAIT_FOR_SERVER_TIMEOUT));
 
   ActionGoal goal;
   goal.order = 6;

rclcpp_lifecycle/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.6.5 (2019-12-05)
+------------------
+
+0.6.4 (2019-04-06)
+------------------
+
+0.6.3 (2019-02-08)
+------------------
+
 0.6.2 (2018-12-13)
 ------------------
 

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>0.6.2</version>
+  <version>0.6.5</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="karsten@osrfoundation.org">Karsten Knese</maintainer>
   <license>Apache License 2.0</license>