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Service introspection #988

Merged
merged 3 commits into from
Feb 28, 2023
Merged

Service introspection #988

merged 3 commits into from
Feb 28, 2023

Commits on Feb 26, 2023

  1. Switch Client constructor to use std::string. 

    This make it more similar to the Service constructor.
Also make both of them use const std::string & to
avoid a copy.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
    @clalancette
    clalancette committed Feb 26, 2023
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  2. Implement service introspection in rclpy. 

    Add in the parameters to control it, as well as the correct
calls into the underlying rcl implementation.  Also add in
tests.

Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
Signed-off-by: Chris Lalancette <clalancette@gmail.com>
    @ihasdapie @clalancette
    ihasdapie authored and clalancette committed Feb 26, 2023
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  3. Implement service introspection. 

    To do this, we add a new method on the Client and
Service classes that allows the user to change the
introspection method at runtime.  These end up calling
into the rcl layer to do the actual configuration,
at which point service introspection messages will be
sent as configured.

Signed-off-by: Chris Lalancette <clalancette@gmail.com>
    @clalancette
    clalancette committed Feb 26, 2023
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