0.8.5

Signed-off-by: Michael Carroll <michael@openrobotics.org>

rclcpp/CHANGELOG.rst

@@ -2,6 +2,24 @@
 Changelog for package rclcpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.8.5 (2020-12-04)
+------------------
+* Warn about unused result of add_on_set_parameters_callback (`#1238 <https://github.com/ros2/rclcpp/issues/1238>`_) (`#1243 <https://github.com/ros2/rclcpp/issues/1243>`_)
+* fix exception message on rcl_clock_init. (`#1194 <https://github.com/ros2/rclcpp/issues/1194>`_)
+* 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>`_)
+* Fix lock-order-inversion (potential deadlock) (`#1135 <https://github.com/ros2/rclcpp/issues/1135>`_) (`#1137 <https://github.com/ros2/rclcpp/issues/1137>`_)
+* Don't specify calling convention in std::_Binder template (`#952 <https://github.com/ros2/rclcpp/issues/952>`_) (`#1006 <https://github.com/ros2/rclcpp/issues/1006>`_)
+* Add missing service callback registration tracepoint (`#986 <https://github.com/ros2/rclcpp/issues/986>`_) (`#1004 <https://github.com/ros2/rclcpp/issues/1004>`_)
+* Allow node clock use in logging macros (`#969 <https://github.com/ros2/rclcpp/issues/969>`_) (`#970 <https://github.com/ros2/rclcpp/issues/970>`_) (`#981 <https://github.com/ros2/rclcpp/issues/981>`_)
+* Complete published event message when declaring a parameter (`#928 <https://github.com/ros2/rclcpp/issues/928>`_) (`#966 <https://github.com/ros2/rclcpp/issues/966>`_)
+* Contributors: Christophe Bedard, DongheeYe, Ivan Santiago Paunovic, Jacob Perron, Sean Kelly, Shane Loretz, tomoya
+
+0.8.4 (2020-01-17)
+------------------
+* Intra-process subscriber should use RMW actual qos (ros2`#913 <https://github.com/ros2/rclcpp/issues/913>`_) (`#914 <https://github.com/ros2/rclcpp/issues/914>`_) (`#965 <https://github.com/ros2/rclcpp/issues/965>`_)
+* Contributors: Todd Malsbary
+
 0.8.3 (2019-11-19)
 ------------------
 

rclcpp/include/rclcpp/any_service_callback.hpp

@@ -24,6 +24,7 @@
 #include "rclcpp/visibility_control.hpp"
 #include "rmw/types.h"
 #include "tracetools/tracetools.h"
+#include "tracetools/utils.hpp"
 
 namespace rclcpp
 {
@@ -98,6 +99,21 @@ public:
     }
     TRACEPOINT(callback_end, (const void *)this);
   }
+
+  void register_callback_for_tracing()
+  {
+    if (shared_ptr_callback_) {
+      TRACEPOINT(
+        rclcpp_callback_register,
+        (const void *)this,
+        get_symbol(shared_ptr_callback_));
+    } else if (shared_ptr_with_request_header_callback_) {
+      TRACEPOINT(
+        rclcpp_callback_register,
+        (const void *)this,
+        get_symbol(shared_ptr_with_request_header_callback_));
+    }
+  }
 };
 
 }  // namespace rclcpp

rclcpp/include/rclcpp/executor.hpp

@@ -35,6 +35,7 @@
 #include "rclcpp/node_interfaces/node_base_interface.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/visibility_control.hpp"
+#include "rclcpp/scope_exit.hpp"
 
 namespace rclcpp
 {
@@ -244,9 +245,14 @@ 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) {
@@ -360,6 +366,10 @@ protected:
 private:
   RCLCPP_DISABLE_COPY(Executor)
 
+  RCLCPP_PUBLIC
+  void
+  spin_once_impl(std::chrono::nanoseconds timeout);
+
   std::list<rclcpp::node_interfaces::NodeBaseInterface::WeakPtr> weak_nodes_;
   std::list<const rcl_guard_condition_t *> guard_conditions_;
 };

rclcpp/include/rclcpp/function_traits.hpp

@@ -88,8 +88,7 @@ struct function_traits<std::_Bind<ReturnTypeT(ClassT::*(FArgs ...))(Args ...)>>
 struct function_traits<std::_Bind<std::_Mem_fn<ReturnTypeT (ClassT::*)(Args ...)>(FArgs ...)>>
 #elif defined _MSC_VER  // MS Visual Studio
 struct function_traits<
-  std::_Binder<std::_Unforced, ReturnTypeT(__cdecl ClassT::*)(Args ...), FArgs ...>
->
+  std::_Binder<std::_Unforced, ReturnTypeT (ClassT::*)(Args ...), FArgs ...>>
 #else
 #error "Unsupported C++ compiler / standard library"
 #endif
@@ -106,8 +105,7 @@ struct function_traits<std::_Bind<ReturnTypeT(ClassT::*(FArgs ...))(Args ...) co
 struct function_traits<std::_Bind<std::_Mem_fn<ReturnTypeT (ClassT::*)(Args ...) const>(FArgs ...)>>
 #elif defined _MSC_VER  // MS Visual Studio
 struct function_traits<
-  std::_Binder<std::_Unforced, ReturnTypeT(__cdecl ClassT::*)(Args ...) const, FArgs ...>
->
+  std::_Binder<std::_Unforced, ReturnTypeT (ClassT::*)(Args ...) const, FArgs ...>>
 #else
 #error "Unsupported C++ compiler / standard library"
 #endif
@@ -121,7 +119,7 @@ struct function_traits<std::__bind<ReturnTypeT( &)(Args ...), FArgs ...>>
 #elif defined __GLIBCXX__  // glibc++ (GNU C++)
 struct function_traits<std::_Bind<ReturnTypeT(*(FArgs ...))(Args ...)>>
 #elif defined _MSC_VER  // MS Visual Studio
-struct function_traits<std::_Binder<std::_Unforced, ReturnTypeT(__cdecl &)(Args ...), FArgs ...>>
+struct function_traits<std::_Binder<std::_Unforced, ReturnTypeT( &)(Args ...), FArgs ...>>
 #else
 #error "Unsupported C++ compiler / standard library"
 #endif

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"
 
@@ -794,6 +796,7 @@ 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);
 

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"
@@ -159,6 +161,7 @@ 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/service.hpp

@@ -159,6 +159,7 @@ public:
       rclcpp_service_callback_added,
       (const void *)get_service_handle().get(),
       (const void *)&any_callback_);
+    any_callback_.register_callback_for_tracing();
   }
 
   Service(
@@ -181,6 +182,7 @@ public:
       rclcpp_service_callback_added,
       (const void *)get_service_handle().get(),
       (const void *)&any_callback_);
+    any_callback_.register_callback_for_tracing();
   }
 
   Service(
@@ -205,6 +207,7 @@ public:
       rclcpp_service_callback_added,
       (const void *)get_service_handle().get(),
       (const void *)&any_callback_);
+    any_callback_.register_callback_for_tracing();
   }
 
   Service() = delete;

rclcpp/include/rclcpp/subscription.hpp

@@ -124,15 +124,16 @@ public:
       using rclcpp::detail::resolve_intra_process_buffer_type;
 
       // Check if the QoS is compatible with intra-process.
-      if (qos.get_rmw_qos_profile().history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
+      rmw_qos_profile_t qos_profile = get_actual_qos().get_rmw_qos_profile();
+      if (qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_ALL) {
         throw std::invalid_argument(
                 "intraprocess communication is not allowed with keep all history qos policy");
       }
-      if (qos.get_rmw_qos_profile().depth == 0) {
+      if (qos_profile.depth == 0) {
         throw std::invalid_argument(
                 "intraprocess communication is not allowed with 0 depth qos policy");
       }
-      if (qos.get_rmw_qos_profile().durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
+      if (qos_profile.durability != RMW_QOS_POLICY_DURABILITY_VOLATILE) {
         throw std::invalid_argument(
                 "intraprocess communication allowed only with volatile durability");
       }
@@ -149,7 +150,7 @@ public:
         options.get_allocator(),
         context,
         this->get_topic_name(),    // important to get like this, as it has the fully-qualified name
-        qos.get_rmw_qos_profile(),
+        qos_profile,
         resolve_intra_process_buffer_type(options.intra_process_buffer_type, callback)
         );
       TRACEPOINT(

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>0.8.3</version>
+  <version>0.8.5</version>
   <description>The ROS client library in C++.</description>
   <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
   <license>Apache License 2.0</license>

rclcpp/resource/logging.hpp.em

@@ -128,9 +128,9 @@ def get_rclcpp_suffix_from_features(features):
       typename ::rclcpp::Logger>::value, \
       "First argument to logging macros must be an rclcpp::Logger"); \
 @[ if 'throttle' in feature_combination]@ \
-    auto get_time_point = [&clock](rcutils_time_point_value_t * time_point) -> rcutils_ret_t { \
+    auto get_time_point = [&c=clock](rcutils_time_point_value_t * time_point) -> rcutils_ret_t { \
       try { \
-        *time_point = clock.now().nanoseconds(); \
+        *time_point = c.now().nanoseconds(); \
       } catch (...) { \
         RCUTILS_SAFE_FWRITE_TO_STDERR( \
         "[rclcpp|logging.hpp] RCLCPP_@(severity)@(suffix) could not get current time stamp\n"); \

rclcpp/src/rclcpp/clock.cpp

@@ -35,7 +35,7 @@ Clock::Clock(rcl_clock_type_t clock_type)
   allocator_ = rcl_get_default_allocator();
   auto 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)
     throw std::runtime_error("spin_some() called while already spinning");
   }
   RCLCPP_SCOPE_EXIT(this->spinning.store(false); );
-  while (spinning.load() && max_duration_not_elapsed()) {
+  while (rclcpp::ok(context_) && spinning.load() && max_duration_not_elapsed()) {
     AnyExecutable any_exec;
     if (get_next_executable(any_exec, std::chrono::milliseconds::zero())) {
       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/src/rclcpp/node_interfaces/node_graph.cpp

@@ -321,9 +321,11 @@ rclcpp::Event::SharedPtr
 NodeGraph::get_graph_event()
 {
   auto event = rclcpp::Event::make_shared();
-  std::lock_guard<std::mutex> graph_changed_lock(graph_mutex_);
-  graph_events_.push_back(event);
-  graph_users_count_++;
+  {
+    std::lock_guard<std::mutex> graph_changed_lock(graph_mutex_);
+    graph_events_.push_back(event);
+    graph_users_count_++;
+  }
   // on first call, add node to graph_listener_
   if (should_add_to_graph_listener_.exchange(false)) {
     graph_listener_->add_node(this);

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -402,6 +402,8 @@ NodeParameters::declare_parameter(
 
   // Publish if events_publisher_ is not nullptr, which may be if disabled in the constructor.
   if (nullptr != events_publisher_) {
+    parameter_event.node = combined_name_;
+    parameter_event.stamp = node_clock_->get_clock()->now();
     events_publisher_->publish(parameter_event);
   }
 

rclcpp/test/test_logging.cpp

@@ -77,16 +77,33 @@ public:
   }
 };
 
+class DummyNode
+{
+public:
+  DummyNode()
+  {
+    clock_ = rclcpp::Clock::make_shared(RCL_ROS_TIME);
+  }
+  rclcpp::Clock::SharedPtr get_clock()
+  {
+    return clock_;
+  }
+
+private:
+  rclcpp::Clock::SharedPtr clock_;
+};
+
 TEST_F(TestLoggingMacros, test_logging_named) {
   for (int i : {1, 2, 3}) {
     RCLCPP_DEBUG(g_logger, "message %d", i);
   }
+  size_t expected_location = __LINE__ - 2u;
   EXPECT_EQ(3u, g_log_calls);
   EXPECT_TRUE(g_last_log_event.location != NULL);
   if (g_last_log_event.location) {
     EXPECT_STREQ("TestBody", g_last_log_event.location->function_name);
     EXPECT_THAT(g_last_log_event.location->file_name, EndsWith("test_logging.cpp"));
-    EXPECT_EQ(82u, g_last_log_event.location->line_number);
+    EXPECT_EQ(expected_location, g_last_log_event.location->line_number);
   }
   EXPECT_EQ(RCUTILS_LOG_SEVERITY_DEBUG, g_last_log_event.level);
   EXPECT_EQ("name", g_last_log_event.name);
@@ -210,6 +227,26 @@ TEST_F(TestLoggingMacros, test_throttle) {
       EXPECT_EQ(6u, g_log_calls);
     }
   }
+  DummyNode node;
+  rcl_clock_t * node_clock = node.get_clock()->get_clock_handle();
+  ASSERT_TRUE(node_clock);
+  ASSERT_EQ(RCL_RET_OK, rcl_enable_ros_time_override(node_clock));
+  EXPECT_EQ(6u, g_log_calls);
+  EXPECT_EQ(RCL_RET_OK, rcl_set_ros_time_override(node_clock, RCUTILS_MS_TO_NS(10)));
+  for (uint64_t i = 0; i < 3; ++i) {
+    RCLCPP_DEBUG_THROTTLE(g_logger, *node.get_clock(), 10, "Throttling");
+    if (i == 0) {
+      EXPECT_EQ(7u, g_log_calls);
+      rcl_time_point_value_t clock_ns = node.get_clock()->now().nanoseconds() + RCUTILS_MS_TO_NS(5);
+      EXPECT_EQ(RCL_RET_OK, rcl_set_ros_time_override(node_clock, clock_ns));
+    } else if (i == 1) {
+      EXPECT_EQ(7u, g_log_calls);
+      rcl_time_point_value_t clock_ns = node.get_clock()->now().nanoseconds() + RCUTILS_MS_TO_NS(5);
+      EXPECT_EQ(RCL_RET_OK, rcl_set_ros_time_override(node_clock, clock_ns));
+    } else {
+      EXPECT_EQ(8u, g_log_calls);
+    }
+  }
 }
 
 bool log_function(rclcpp::Logger logger)

rclcpp/test/test_subscription.cpp

@@ -287,10 +287,6 @@ static std::vector<TestParameters> invalid_qos_profiles()
     TestParameters(
       rclcpp::QoS(rclcpp::KeepAll()),
       "keep_all_qos"));
-  parameters.push_back(
-    TestParameters(
-      rclcpp::QoS(rclcpp::KeepLast(0)),
-      "keep_last_zero_depth_qos"));
 
   return parameters;
 }

rclcpp_action/CHANGELOG.rst

@@ -3,6 +3,12 @@ Changelog for package rclcpp_action
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+0.8.5 (2020-12-04)
+------------------
+
+0.8.4 (2020-01-17)
+------------------
+
 0.8.3 (2019-11-19)
 ------------------
 * issue-919 Fixed "memory leak" in action clients (`#920 <https://github.com/ros2/rclcpp/issues/920>`_)

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>0.8.3</version>
+  <version>0.8.5</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 +2,16 @@
 Changelog for package rclcpp_components
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.8.5 (2020-12-04)
+------------------
+* Added rclcpp_components Doxyfile (`#1091 <https://github.com/ros2/rclcpp/issues/1091>`_) (`#1200 <https://github.com/ros2/rclcpp/issues/1200>`_)
+* Contributors: Alejandro Hernández Cordero
+
+0.8.4 (2020-01-17)
+------------------
+* Remove absolute path from installed CMake code (`#948 <https://github.com/ros2/rclcpp/issues/948>`_) (`#950 <https://github.com/ros2/rclcpp/issues/950>`_)
+* Contributors: Jacob Perron
+
 0.8.3 (2019-11-19)
 ------------------
 

rclcpp_components/Doxyfile

@@ -0,0 +1,33 @@
+# All settings not listed here will use the Doxygen default values.
+
+PROJECT_NAME           = "rclcpp_components"
+PROJECT_NUMBER         = master
+PROJECT_BRIEF          = "Package containing tools for dynamically loadable components"
+
+# Use these lines to include the generated logging.hpp (update install path if needed)
+# Otherwise just generate for the local (non-generated header files)
+INPUT                  = ./include
+
+RECURSIVE              = YES
+OUTPUT_DIRECTORY       = doc_output
+
+EXTRACT_ALL            = YES
+SORT_MEMBER_DOCS       = NO
+
+GENERATE_LATEX         = NO
+
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = YES
+EXPAND_ONLY_PREDEF     = YES
+PREDEFINED             = RCLCPP_COMPONENTS_PUBLIC=
+
+# Tag files that do not exist will produce a warning and cross-project linking will not work.
+TAGFILES += "../../../../doxygen_tag_files/cppreference-doxygen-web.tag.xml=http://en.cppreference.com/w/"
+# Consider changing "latest" to the version you want to reference (e.g. beta1 or 1.0.0)
+TAGFILES += "../../../../doxygen_tag_files/class_loader.tag=http://docs.ros2.org/latest/api/class_loader/"
+TAGFILES += "../../../../doxygen_tag_files/rclcpp.tag=http://docs.ros2.org/latest/api/rclcpp/"
+TAGFILES += "../../../../doxygen_tag_files/rcl.tag=http://docs.ros2.org/latest/api/rcl/"
+TAGFILES += "../../../../doxygen_tag_files/rcutils.tag=http://docs.ros2.org/latest/api/rcutils/"
+TAGFILES += "../../../../doxygen_tag_files/rmw.tag=http://docs.ros2.org/latest/api/rmw/"
+# Uncomment to generate tag files for cross-project linking.
+GENERATE_TAGFILE = "../../../../doxygen_tag_files/rclcpp_components.tag"

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>0.8.3</version>
+  <version>0.8.5</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_components/rclcpp_components-extras.cmake.in

@@ -25,7 +25,8 @@ macro(_rclcpp_components_register_package_hook)
   endif()
 endmacro()
 
-set(@PROJECT_NAME@_NODE_TEMPLATE "@CMAKE_INSTALL_PREFIX@/@node_main_template_install_dir@/node_main.cpp.in")
+get_filename_component(@PROJECT_NAME@_SHARE_DIR "${@PROJECT_NAME@_DIR}" DIRECTORY)
+set(@PROJECT_NAME@_NODE_TEMPLATE "${@PROJECT_NAME@_SHARE_DIR}/node_main.cpp.in")
 
 include("${rclcpp_components_DIR}/rclcpp_components_register_nodes.cmake")
 include("${rclcpp_components_DIR}/rclcpp_components_register_node.cmake")

rclcpp_lifecycle/CHANGELOG.rst

@@ -3,6 +3,12 @@ Changelog for package rclcpp_lifecycle
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
 
+0.8.5 (2020-12-04)
+------------------
+
+0.8.4 (2020-01-17)
+------------------
+
 0.8.3 (2019-11-19)
 ------------------
 

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>0.8.3</version>
+  <version>0.8.5</version>
   <description>Package containing a prototype for lifecycle implementation</description>
   <maintainer email="karsten@osrfoundation.org">Karsten Knese</maintainer>
   <license>Apache License 2.0</license>