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Fix use_sim_time issue on LifeCycleNode #651

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merged 1 commit into from
Mar 26, 2019

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vinnamkim
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This commit is related to the issue #641.

In the pull request #608, rclcpp::NodeTimeSource is introduced to rclcpp::Node. But, not included in rclcpp::LifeCycleNode.

Signed-off-by: vinnamkim vinnam.kim@gmail.com

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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

@vinnamkim
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fixed whitespace error and checked by ament_cpplint and colcon test

@mjeronimo
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@Karsten1987 Karsten - what's the timeline for integration? Also wondering about #645

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Sorry for the late response. I must have missed the notification on it.
I ran again CI and it looks like there are still some uncrustify complaints.

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

you can run ament_uncrustify --reformat . in your source directory and uncrustify will automatically reformat it correctly. If you say, you ran colcon test on it, you also might want to update your ros2 installation to have the latest uncrustify version.

@@ -81,6 +82,15 @@ LifecycleNode::LifecycleNode(
options.start_parameter_event_publisher(),
options.parameter_event_qos_profile()
)),
node_time_source_(new rclcpp::node_interfaces::NodeTimeSource(
node_base_,
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--- src/lifecycle_node.cpp
+++ src/lifecycle_node.cpp.uncrustify
@@ -86,8 +86,8 @@
-    node_base_,
-    node_topics_,
-    node_graph_,
-    node_services_,
-    node_logging_,
-    node_clock_,
-    node_parameters_
-  )),
+      node_base_,
+      node_topics_,
+      node_graph_,
+      node_services_,
+      node_logging_,
+      node_clock_,
+      node_parameters_
+    )),

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@vinnamkim Can you please update to fix the formatting?

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@Karsten1987, @mjeronimo Sorry for repeated miss formatting. I updated commit and checked ament_uncrustify, ament_cppcheck, and colcon test.

Signed-off-by: vinnamkim <vinnam.kim@gmail.com>
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new round of CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

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thanks for iterating over this.

@Karsten1987 Karsten1987 merged commit b352d45 into ros2:master Mar 26, 2019
@Karsten1987 Karsten1987 removed the in review Waiting for review (Kanban column) label Mar 26, 2019
jhdcs added a commit to jhdcs/rclcpp that referenced this pull request Mar 27, 2019
Fix use_sim_time issue on LifeCycleNode (ros2#651)
mm318 pushed a commit to aws-ros-dev/rclcpp that referenced this pull request Mar 29, 2019
* Add interfaces for events in memory_strategy

Signed-off-by: Miaofei <miaofei@amazon.com>

* refactor waitables

Signed-off-by: Miaofei <miaofei@amazon.com>

* Attempt to fix cppcheck (ros2#646)

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* add event callbacks to publisher, subscriber, client, service

Signed-off-by: Miaofei <miaofei@amazon.com>

* fix some ros2 build issues

Signed-off-by: Miaofei <miaofei@amazon.com>

* Add a method to the LifecycleNode class to get the logging interface (ros2#652)

There are getters for the other interfaces, but the logging interface
appears to have been overlooked.

Signed-off-by: Michael Jeronimo <michael.jeronimo@intel.com>

* Add Doxyfile for rclcpp_action

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

* Add documentation to rclcpp_action

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

* update to use separated action types (ros2#601)

* match renamed action types

* fix action type casting

* rename type/field to use correct term

* rename custom GoalID type to avoid naming collision, update types using unique_identifier_msgs

* remove obsolete comments

* change signature of set_succeeded / set_canceled

* change signature of     on_terminal_state_(uuid_, result_msg);set_succeeded / set_canceled

* change signature of set_aborted

* change signature of publish_feedback

* update another test

Signed-off-by: Miaofei <miaofei@amazon.com>

* update client-facing API

Signed-off-by: Miaofei <miaofei@amazon.com>

* Don't hardcode int64_t for duration type representations (ros2#648)

In LLVM's `libcxx`, `int64_t` doesn't match chrono literals. See example below. To compile, run  `clang++-6.0 -stdlib=libc++ -std=c++14 TEST.cpp`

```
using namespace std::chrono_literals;

template<typename RatioT = std::milli>
bool
wait_for_service(
   std::chrono::duration<int64_t, RatioT> timeout
)
{
   return timeout == std::chrono::nanoseconds(0);
}

int main() {
   wait_for_service(2s);
   return 0;
}

```

Result of compilation
```
TEST.cpp:6:1: note: candidate template ignored: could not match 'long' against 'long long'
wait_for_service(
```

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
Signed-off-by: Steven! Ragnarök <steven@nuclearsandwich.com>

* improve usability of the SubscriptionOptions and PublisherOptions classes

Signed-off-by: Miaofei <miaofei@amazon.com>

* Fix test_time_source test (ros2#639)

* Fix flakey test

Signed-off-by: Pete Baughman <pete.baughman@apex.ai>

* Fix lint and uncrustify issues

Signed-off-by: Pete Baughman <pete.baughman@apex.ai>

* fix lint errors

Signed-off-by: Miaofei <miaofei@amazon.com>

* apply uncrustify

Signed-off-by: Miaofei <miaofei@amazon.com>

* add section about DCO to CONTRIBUTING.md

* update for rcl API changes

Signed-off-by: Miaofei <miaofei@amazon.com>

* Fix lint and build warnings and API inconsistency

Signed-off-by: Emerson Knapp <eknapp@amazon.com>

* Avoid race that triggers timer too often (ros2#621)

The two distinct operations of acquiring and subsequent checking of a
timer have to be protected by one lock_guard against races with other
threads. The releasing of a timer has to be protected by the same lock.

Given this requirement there is no use for a second mutex.

Signed-off-by: Marko Durkovic <marko@ternaris.com>

* Back out Waitable and GraphEvent-related changes

Signed-off-by: Emerson Knapp <eknapp@amazon.com>

* add publisher and subscription events to AllocatorMemoryStrategy

* Add stub API for assert_liveliness

* Fix use_sim_time issue on LifeCycleNode (ros2#651)

Signed-off-by: vinnamkim <vinnam.kim@gmail.com>

* revert changes to client and services
address PR comments

Signed-off-by: Miaofei <miaofei@amazon.com>

* Add parameter-related templates to LifecycleNode (ros2#645)

* Add parameter-related templates to LifecycleNode

Signed-off-by: vinnamkim <vinnam.kim@gmail.com>

* Update rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

Co-Authored-By: vinnamkim <vinnam.kim@gmail.com>

* Update rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

* update API calls into rcl

* fix linter errors in rclcpp_lifecycle (ros2#672)

Signed-off-by: Karsten Knese <karsten@openrobotics.org>
mm318 pushed a commit to aws-ros-dev/rclcpp that referenced this pull request Apr 2, 2019
* New interfaces for incoming QoS features

Adds new PublisherOptions and SubscriptionOptions classes, with new Publisher and Subscriber constructors
to accept them. Adds the liveliness assertion callbacks that will be needed for the new Liveliness QoS policy

Signed-off-by: Emerson Knapp <eknapp@amazon.com>

* Fix options usage in implementation, and add test to catch that code path.

Signed-off-by: Emerson Knapp <eknapp@amazon.com>

* rclcpp QoS implementation (#2)

* Add interfaces for events in memory_strategy

Signed-off-by: Miaofei <miaofei@amazon.com>

* refactor waitables

Signed-off-by: Miaofei <miaofei@amazon.com>

* Attempt to fix cppcheck (ros2#646)

Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>

* add event callbacks to publisher, subscriber, client, service

Signed-off-by: Miaofei <miaofei@amazon.com>

* fix some ros2 build issues

Signed-off-by: Miaofei <miaofei@amazon.com>

* Add a method to the LifecycleNode class to get the logging interface (ros2#652)

There are getters for the other interfaces, but the logging interface
appears to have been overlooked.

Signed-off-by: Michael Jeronimo <michael.jeronimo@intel.com>

* Add Doxyfile for rclcpp_action

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

* Add documentation to rclcpp_action

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

* update to use separated action types (ros2#601)

* match renamed action types

* fix action type casting

* rename type/field to use correct term

* rename custom GoalID type to avoid naming collision, update types using unique_identifier_msgs

* remove obsolete comments

* change signature of set_succeeded / set_canceled

* change signature of     on_terminal_state_(uuid_, result_msg);set_succeeded / set_canceled

* change signature of set_aborted

* change signature of publish_feedback

* update another test

Signed-off-by: Miaofei <miaofei@amazon.com>

* update client-facing API

Signed-off-by: Miaofei <miaofei@amazon.com>

* Don't hardcode int64_t for duration type representations (ros2#648)

In LLVM's `libcxx`, `int64_t` doesn't match chrono literals. See example below. To compile, run  `clang++-6.0 -stdlib=libc++ -std=c++14 TEST.cpp`

```
using namespace std::chrono_literals;

template<typename RatioT = std::milli>
bool
wait_for_service(
   std::chrono::duration<int64_t, RatioT> timeout
)
{
   return timeout == std::chrono::nanoseconds(0);
}

int main() {
   wait_for_service(2s);
   return 0;
}

```

Result of compilation
```
TEST.cpp:6:1: note: candidate template ignored: could not match 'long' against 'long long'
wait_for_service(
```

Signed-off-by: Emerson Knapp <eknapp@amazon.com>
Signed-off-by: Steven! Ragnarök <steven@nuclearsandwich.com>

* improve usability of the SubscriptionOptions and PublisherOptions classes

Signed-off-by: Miaofei <miaofei@amazon.com>

* Fix test_time_source test (ros2#639)

* Fix flakey test

Signed-off-by: Pete Baughman <pete.baughman@apex.ai>

* Fix lint and uncrustify issues

Signed-off-by: Pete Baughman <pete.baughman@apex.ai>

* fix lint errors

Signed-off-by: Miaofei <miaofei@amazon.com>

* apply uncrustify

Signed-off-by: Miaofei <miaofei@amazon.com>

* add section about DCO to CONTRIBUTING.md

* update for rcl API changes

Signed-off-by: Miaofei <miaofei@amazon.com>

* Fix lint and build warnings and API inconsistency

Signed-off-by: Emerson Knapp <eknapp@amazon.com>

* Avoid race that triggers timer too often (ros2#621)

The two distinct operations of acquiring and subsequent checking of a
timer have to be protected by one lock_guard against races with other
threads. The releasing of a timer has to be protected by the same lock.

Given this requirement there is no use for a second mutex.

Signed-off-by: Marko Durkovic <marko@ternaris.com>

* Back out Waitable and GraphEvent-related changes

Signed-off-by: Emerson Knapp <eknapp@amazon.com>

* add publisher and subscription events to AllocatorMemoryStrategy

* Add stub API for assert_liveliness

* Fix use_sim_time issue on LifeCycleNode (ros2#651)

Signed-off-by: vinnamkim <vinnam.kim@gmail.com>

* revert changes to client and services
address PR comments

Signed-off-by: Miaofei <miaofei@amazon.com>

* Add parameter-related templates to LifecycleNode (ros2#645)

* Add parameter-related templates to LifecycleNode

Signed-off-by: vinnamkim <vinnam.kim@gmail.com>

* Update rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

Co-Authored-By: vinnamkim <vinnam.kim@gmail.com>

* Update rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

* update API calls into rcl

* fix linter errors in rclcpp_lifecycle (ros2#672)

Signed-off-by: Karsten Knese <karsten@openrobotics.org>

* Update to use the new interface definitions

Signed-off-by: Emerson Knapp <eknapp@amazon.com>

* Remove duplicate event_handlers_
jhdcs pushed a commit to jhdcs/rclcpp that referenced this pull request Apr 15, 2019
Signed-off-by: vinnamkim <vinnam.kim@gmail.com>
Signed-off-by: Jacob Hassold <jhassold@dcscorp.com>
cho3 pushed a commit to cho3/rclcpp that referenced this pull request Jun 3, 2019
Signed-off-by: vinnamkim <vinnam.kim@gmail.com>
DensoADAS pushed a commit to DensoADAS/rclcpp that referenced this pull request Aug 5, 2022
…os2#651)

Signed-off-by: Adam Dabrowski <adam.dabrowski@robotec.ai>
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4 participants