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Add enable_type_description_service node option - API only (rep2011) #1060

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merged 1 commit into from
Apr 12, 2023
Merged

Add enable_type_description_service node option - API only (rep2011) #1060

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3 changes: 3 additions & 0 deletions rcl/include/rcl/node_options.h
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,9 @@ typedef struct rcl_node_options_s

/// Middleware quality of service settings for /rosout.
rmw_qos_profile_t rosout_qos;

/// Register the ~/get_type_description service. Defaults to false.
bool enable_type_description_service;
} rcl_node_options_t;

/// Return the default node options in a rcl_node_options_t.
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6 changes: 6 additions & 0 deletions rcl/src/rcl/node.c
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Expand Up @@ -293,6 +293,12 @@ rcl_node_init(
goto fail;
}
}
if (node->impl->options.enable_type_description_service) {
RCUTILS_LOG_WARN_NAMED(
ROS_PACKAGE_NAME,
"Requested ~/get_type_description service enabled, but feature is not yet implemented. "
"Service is not created.");
}
RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Node initialized");
ret = RCL_RET_OK;
TRACEPOINT(
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2 changes: 2 additions & 0 deletions rcl/src/rcl/node_options.c
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Expand Up @@ -36,6 +36,7 @@ rcl_node_get_default_options()
.arguments = rcl_get_zero_initialized_arguments(),
.enable_rosout = true,
.rosout_qos = rcl_qos_profile_rosout_default,
.enable_type_description_service = false,
};
return default_options;
}
Expand All @@ -61,6 +62,7 @@ rcl_node_options_copy(
options_out->use_global_arguments = options->use_global_arguments;
options_out->enable_rosout = options->enable_rosout;
options_out->rosout_qos = options->rosout_qos;
options_out->enable_type_description_service = options->enable_type_description_service;
if (NULL != options->arguments.impl) {
return rcl_arguments_copy(&(options->arguments), &(options_out->arguments));
}
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