micro-ROS Library auto-update 25-05-2022 13:33

built_packages

@@ -6,14 +6,14 @@ https://github.com/ament/ament_package.git a80f40af065e4f708b88ca024f10bfd21bb17
 https://github.com/ament/googletest.git 6df7425fdcbd368d2d1b99ffd89b9168014abb07
 https://github.com/ament/uncrustify_vendor.git d647c05b96bc2b2edf4db652a3fc9ebf0fd52f3c
 https://github.com/eProsima/Micro-CDR.git cb4403a8780095df94a7b1936b1e00153c90070d
-https://github.com/eProsima/Micro-XRCE-DDS-Client.git 9b9278c0b3a633aa7ad634bda2fd2c4f04093dcf
+https://github.com/eProsima/Micro-XRCE-DDS-Client.git e3f6439013a1a9ecb0d4011d19d7a4cec2c84655
 https://github.com/micro-ROS/micro_ros_msgs.git e3664463e78ae5d0c34d86be92d707b3d9dfd27d
-https://github.com/micro-ROS/micro_ros_utilities 84fc67aa3ba1175973bacbc53cf9b2ebd18942ae
+https://github.com/micro-ROS/micro_ros_utilities 0a39e769bb42b329addbe999c95b1cf216e01349
 https://github.com/micro-ROS/rcl 98bb690e17b147f194bd2c92786784814539702e
 https://github.com/micro-ROS/rcutils 7293e01924b9f259d7ca7cfadaea81a09dda389a
-https://github.com/micro-ROS/rmw-microxrcedds.git 6a93ba6a3d4d1c5add33cc2967c85d70029fd67b
+https://github.com/micro-ROS/rmw-microxrcedds.git 6273365d9efaa34c23c7c9a1bf889bd1726edae6
 https://github.com/micro-ROS/rosidl_typesupport.git d21bde140e1a4b413f6725888470b758a739171d
-https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git cc8dd6c06981e0f0ab3ac10e6f233db0e8e04c06
+https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 106fda6a43a912e09480d7b705f3ca4a31a1803c
 https://github.com/ros-controls/control_msgs a555c37f1a3536bb452ea555c58fdd9344d87614
 https://github.com/ros2/ament_cmake_ros.git bbbc6ec4dea550f12d68863c558eb7f54be151e4
 https://github.com/ros2/common_interfaces.git 980fc1858d104555f6f260e502c5ed96cd6b6e99

src/actionlib_msgs/msg/detail/goal_status__struct.h

@@ -38,7 +38,7 @@ enum
 /// Constant 'PREEMPTED'.
 /**
   * The goal received a cancel request after it started executing
-  * and has since completed its execution (Terminal State).
+  *   and has since completed its execution (Terminal State).
  */
 enum
 {
@@ -68,7 +68,7 @@ enum
 /// Constant 'REJECTED'.
 /**
   * The goal was rejected by the action server without being processed,
-  *    because the goal was unattainable or invalid (Terminal State).
+  * because the goal was unattainable or invalid (Terminal State).
  */
 enum
 {
@@ -88,7 +88,7 @@ enum
 /// Constant 'RECALLING'.
 /**
   * The goal received a cancel request before it started executing, but
-  * the action server has not yet confirmed that the goal is canceled.
+  *    the action server has not yet confirmed that the goal is canceled.
  */
 enum
 {
@@ -108,7 +108,7 @@ enum
 /// Constant 'LOST'.
 /**
   * An action client can determine that a goal is LOST. This should not
-  * be sent over the wire by an action server.
+  *    be sent over the wire by an action server.
  */
 enum
 {

src/control_msgs/action/detail/follow_joint_trajectory__struct.h

@@ -124,9 +124,9 @@ typedef struct control_msgs__action__FollowJointTrajectory_Result
   /// - INVALID_GOAL: The reason for the invalid goal (e.g., the requested
   ///   trajectory is in the past).
   /// - INVALID_JOINTS: The mismatch between the expected controller joints
-  /// and those provided in the goal.
+  ///   and those provided in the goal.
   /// - PATH_TOLERANCE_VIOLATED and GOAL_TOLERANCE_VIOLATED: Which joint
-  ///   violated which tolerance, and by how much.
+  /// violated which tolerance, and by how much.
   rosidl_runtime_c__String error_string;
 } control_msgs__action__FollowJointTrajectory_Result;
 

src/geometry_msgs/msg/detail/inertia__struct.h

@@ -31,7 +31,7 @@ typedef struct geometry_msgs__msg__Inertia
   /// Center of mass
   geometry_msgs__msg__Vector3 com;
   /// Inertia Tensor
-  ///     | ixx ixy ixz |
+  /// | ixx ixy ixz |
   /// I = | ixy iyy iyz |
   ///     | ixz iyz izz |
   double ixx;

src/sensor_msgs/msg/detail/camera_info__struct.h

@@ -33,11 +33,11 @@ extern "C"
   * camera namespace on topic "camera_info" and accompanied by up to five
   * image topics named:
   *
-  *   image_raw - raw data from the camera driver, possibly Bayer encoded
+  * image_raw - raw data from the camera driver, possibly Bayer encoded
   * image            - monochrome, distorted
-  *   image_color      - color, distorted
+  * image_color      - color, distorted
   * image_rect       - monochrome, rectified
-  *   image_rect_color - color, rectified
+  * image_rect_color - color, rectified
   *
   * The image_pipeline contains packages (image_proc, stereo_image_proc)
   * for producing the four processed image topics from image_raw and
@@ -55,7 +55,7 @@ extern "C"
  */
 typedef struct sensor_msgs__msg__CameraInfo
 {
-  /// Image acquisition info                          #
+  ///                     Image acquisition info                          #
   ///
   /// Time of image acquisition, camera coordinate frame ID
   /// Header timestamp should be acquisition time of image
@@ -65,7 +65,7 @@ typedef struct sensor_msgs__msg__CameraInfo
   /// +y should point down in the image
   /// +z should point into the plane of the image
   std_msgs__msg__Header header;
-  /// Calibration Parameters                         #
+  ///                      Calibration Parameters                         #
   ///
   /// These are fixed during camera calibration. Their values will be the #
   /// same in all messages until the camera is recalibrated. Note that    #
@@ -74,7 +74,7 @@ typedef struct sensor_msgs__msg__CameraInfo
   /// The internal parameters can be used to warp a raw (distorted) image #
   /// to:                                                                 #
   /// 1. An undistorted image (requires D and K)                        #
-  ///   2. A rectified image (requires D, K, R)                           #
+  /// 2. A rectified image (requires D, K, R)                           #
   /// The projection matrix P projects 3D points into the rectified image.#
   ///
   /// The image dimensions with which the camera was calibrated.
@@ -89,7 +89,7 @@ typedef struct sensor_msgs__msg__CameraInfo
   /// For "plumb_bob", the 5 parameters are: (k1, k2, t1, t2, k3).
   rosidl_runtime_c__double__Sequence d;
   /// Intrinsic camera matrix for the raw (distorted) images.
-  ///     [fx  0 cx]
+  /// [fx  0 cx]
   /// K = [ 0 fy cy]
   ///     [ 0  0  1]
   /// Projects 3D points in the camera coordinate frame to 2D pixel
@@ -104,28 +104,28 @@ typedef struct sensor_msgs__msg__CameraInfo
   /// 3x3 row-major matrix
   double r[9];
   /// Projection/camera matrix
-  ///     [fx'  0  cx' Tx]
+  /// [fx'  0  cx' Tx]
   /// P = [ 0  fy' cy' Ty]
-  /// [ 0   0   1   0]
+  ///     [ 0   0   1   0]
   /// By convention, this matrix specifies the intrinsic (camera) matrix
-  ///  of the processed (rectified) image. That is, the left 3x3 portion
-  ///  is the normal camera intrinsic matrix for the rectified image.
+  /// of the processed (rectified) image. That is, the left 3x3 portion
+  /// is the normal camera intrinsic matrix for the rectified image.
   /// It projects 3D points in the camera coordinate frame to 2D pixel
-  /// coordinates using the focal lengths (fx', fy') and principal point
-  /// (cx', cy') - these may differ from the values in K.
+  ///  coordinates using the focal lengths (fx', fy') and principal point
+  ///  (cx', cy') - these may differ from the values in K.
   /// For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will
-  /// also have R = the identity and P[1:3,1:3] = K.
+  ///  also have R = the identity and P[1:3,1:3] = K.
   /// For a stereo pair, the fourth column [Tx Ty 0]' is related to the
   ///  position of the optical center of the second camera in the first
   ///  camera's frame. We assume Tz = 0 so both cameras are in the same
   /// stereo image plane. The first camera always has Tx = Ty = 0. For
   /// the right (second) camera of a horizontal stereo pair, Ty = 0 and
-  /// Tx = -fx' * B, where B is the baseline between the cameras.
+  ///  Tx = -fx' * B, where B is the baseline between the cameras.
   /// Given a 3D point [X Y Z]', the projection (x, y) of the point onto
   /// the rectified image is given by:
-  ///  [u v w]' = P * [X Y Z 1]'
-  /// x = u / w
-  /// y = v / w
+  /// [u v w]' = P * [X Y Z 1]'
+  ///         x = u / w
+  ///         y = v / w
   /// This holds for both images of a stereo pair.
   /// 3x4 row-major matrix
   double p[12];
@@ -136,7 +136,7 @@ typedef struct sensor_msgs__msg__CameraInfo
   /// may be changed freely without recalibrating the camera.             #
   ///
   /// Binning refers here to any camera setting which combines rectangular
-  /// neighborhoods of pixels into larger "super-pixels." It reduces the
+  ///  neighborhoods of pixels into larger "super-pixels." It reduces the
   ///  resolution of the output image to
   ///  (width / binning_x) x (height / binning_y).
   /// The default values binning_x = binning_y = 0 is considered the same
@@ -146,9 +146,9 @@ typedef struct sensor_msgs__msg__CameraInfo
   /// Region of interest (subwindow of full camera resolution), given in
   /// full resolution (unbinned) image coordinates. A particular ROI
   /// always denotes the same window of pixels on the camera sensor,
-  ///  regardless of binning settings.
+  /// regardless of binning settings.
   /// The default setting of roi (all values 0) is considered the same as
-  /// full resolution (roi.width = width, roi.height = height).
+  ///  full resolution (roi.width = width, roi.height = height).
   sensor_msgs__msg__RegionOfInterest roi;
 } sensor_msgs__msg__CameraInfo;
 

src/sensor_msgs/msg/detail/channel_float32__struct.h

@@ -32,15 +32,15 @@ extern "C"
   * point.
   *
   * Channel names in existing practice include:
-  *   "u", "v" - row and column (respectively) in the left stereo image.
+  * "u", "v" - row and column (respectively) in the left stereo image.
   * This is opposite to usual conventions but remains for
-  * historical reasons. The newer PointCloud2 message has no
+  *              historical reasons. The newer PointCloud2 message has no
   * such problem.
   * "rgb" - For point clouds produced by color stereo cameras. uint8
   * (R,G,B) values packed into the least significant 24 bits,
-  *           in order.
+  * in order.
   *   "intensity" - laser or pixel intensity.
-  * "distance"
+  *   "distance"
  */
 typedef struct sensor_msgs__msg__ChannelFloat32
 {

src/sensor_msgs/msg/detail/compressed_image__struct.h

@@ -39,8 +39,8 @@ typedef struct sensor_msgs__msg__CompressedImage
   /// +z should point into to plane of the image
   std_msgs__msg__Header header;
   /// Specifies the format of the data
-  ///   Acceptable values:
-  /// jpeg, png, tiff
+  /// Acceptable values:
+  ///     jpeg, png, tiff
   rosidl_runtime_c__String format;
   /// Compressed image buffer
   rosidl_runtime_c__uint8__Sequence data;

src/sensor_msgs/msg/detail/illuminance__struct.h

@@ -33,9 +33,9 @@ extern "C"
   *
   * All other Photometric and Radiometric measurements should not use this message.
   * This message cannot represent:
-  * - Luminous intensity (candela/light source output)
+  *  - Luminous intensity (candela/light source output)
   *  - Luminance (nits/light output per area)
-  *  - Irradiance (watt/area), etc.
+  * - Irradiance (watt/area), etc.
  */
 typedef struct sensor_msgs__msg__Illuminance
 {

src/sensor_msgs/msg/detail/joint_state__struct.h

@@ -32,9 +32,9 @@ extern "C"
   * This is a message that holds data to describe the state of a set of torque controlled joints.
   *
   * The state of each joint (revolute or prismatic) is defined by:
-  *  * the position of the joint (rad or m),
-  *  * the velocity of the joint (rad/s or m/s) and
-  *  * the effort that is applied in the joint (Nm or N).
+  * * the position of the joint (rad or m),
+  * * the velocity of the joint (rad/s or m/s) and
+  * * the effort that is applied in the joint (Nm or N).
   *
   * Each joint is uniquely identified by its name
   * The header specifies the time at which the joint states were recorded. All the joint states

src/sensor_msgs/msg/detail/nav_sat_fix__struct.h

@@ -68,7 +68,7 @@ typedef struct sensor_msgs__msg__NavSatFix
   /// header.frame_id is the frame of reference reported by the satellite
   ///        receiver, usually the location of the antenna.  This is a
   ///        Euclidean frame relative to the vehicle, not a reference
-  /// ellipsoid.
+  ///        ellipsoid.
   std_msgs__msg__Header header;
   /// Satellite fix status information.
   sensor_msgs__msg__NavSatStatus status;

src/statistics_msgs/msg/detail/metrics_message__struct.h

@@ -34,8 +34,8 @@ extern "C"
   * measure a system's CPU % for a given window yields the following data points over a window of time:
   *
   * - average cpu %
-  * - std deviation
-  * - min
+  *   - std deviation
+  *   - min
   *   - max
   * - sample count
   *

src/stereo_msgs/msg/detail/disparity_image__struct.h

@@ -49,7 +49,7 @@ typedef struct stereo_msgs__msg__DisparityImage
   /// The disparity search range defines the horopter, or 3D volume that the
   /// stereo algorithm can "see". Points with Z outside of:
   /// Z_min = fT / max_disparity
-  ///     Z_max = fT / min_disparity
+  /// Z_max = fT / min_disparity
   /// could not be found.
   float min_disparity;
   float max_disparity;

src/unique_identifier_msgs/msg/detail/uuid__struct.h

@@ -21,7 +21,7 @@ extern "C"
 /**
   * A universally unique identifier (UUID).
   *
-  *  http://en.wikipedia.org/wiki/Universally_unique_identifier
+  * http://en.wikipedia.org/wiki/Universally_unique_identifier
   *  http://tools.ietf.org/html/rfc4122.html
  */
 typedef struct unique_identifier_msgs__msg__UUID

src/uxr/client/config.h

@@ -67,5 +67,18 @@
 
 #define UCLIENT_TWEAK_XRCE_WRITE_LIMIT
 
+/* #undef UCLIENT_HARD_LIVELINESS_CHECK */
+
+#ifdef UCLIENT_HARD_LIVELINESS_CHECK
+#define UXR_CONFIG_HARD_LIVELINESS_CHECK_TIMEOUT_STR     "10000"
+#endif
+
+
+// Version checks
+#if UXR_CLIENT_VERSION_MAJOR >= 3
+#error UCLIENT_HARD_LIVELINESS_CHECK shall be included in session API
+#error MTU must be included in CREATE_CLIENT_Payload properties
+#error Reorder ObjectInfo https://github.com/eProsima/Micro-XRCE-DDS/issues/137
+#endif
 
 #endif // _UXR_CLIENT_CONFIG_H_

src/uxr/client/core/type/xrce_types.h

@@ -24,6 +24,7 @@ extern "C"
 #endif // ifdef __cplusplus
 
 #include <uxr/client/defines.h>
+#include <uxr/client/config.h>
 
 #include <ucdr/microcdr.h>
 #include <stdint.h>
@@ -40,7 +41,24 @@ extern "C"
 #define UXR_SAMPLE_DELTA_SEQUENCE_MAX      8
 #define UXR_PACKED_SAMPLES_SEQUENCE_MAX    8
 #define UXR_TRANSPORT_LOCATOR_SEQUENCE_MAX 4
+
+#ifdef UCLIENT_PROFILE_SHARED_MEMORY
+#define PROFILE_SHARED_MEMORY_SEQ_COUNT 1
+#else
+#define PROFILE_SHARED_MEMORY_SEQ_COUNT 0
+#endif // ifdef UCLIENT_PROFILE_SHARED_MEMORY
+
+#ifdef UCLIENT_HARD_LIVELINESS_CHECK
+#define HARD_LIVELINESS_CHECK_SEQ_COUNT 1
+#else
+#define HARD_LIVELINESS_CHECK_SEQ_COUNT 0
+#endif // ifdef UCLIENT_HARD_LIVELINESS_CHECK
+
+#if  (PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT) == 0
 #define UXR_PROPERTY_SEQUENCE_MAX          1
+#else
+#define UXR_PROPERTY_SEQUENCE_MAX          PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT
+#endif // if  (PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT) == 0
 
 typedef struct Time_t
 {

src/uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h

@@ -0,0 +1,32 @@
+// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// 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.
+
+#ifndef UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_
+#define UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif // ifdef __cplusplus
+
+typedef struct uxrTCPPlatform
+{
+    int fd;
+} uxrTCPPlatform;
+
+#ifdef __cplusplus
+}
+#endif // ifdef __cplusplus
+
+#endif // UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_

src/uxr/client/transport.h

@@ -33,7 +33,9 @@
 #endif //UCLIENT_PROFILE_UDP
 
 #ifdef UCLIENT_PROFILE_TCP
-#if defined(UCLIENT_PLATFORM_POSIX)
+#if defined(UCLIENT_PLATFORM_POSIX_NOPOLL)
+#include <uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h>
+#elif defined(UCLIENT_PLATFORM_POSIX)
 #include <uxr/client/profile/transport/ip/tcp/tcp_transport_posix.h>
 #elif defined(UCLIENT_PLATFORM_WINDOWS)
 #include <uxr/client/profile/transport/ip/tcp/tcp_transport_windows.h>

src/uxr/client/util/ping.h

@@ -33,7 +33,7 @@ extern "C"
 #define UXR_PING_BUF 16 // 4 (HEADER SIZE) + 4 (SUBHEADER_SIZE) + 8 (GET_Info payload)
 
 #define GET_INFO_MSG_SIZE   8
-#define GET_INFO_REQUEST_ID 9
+#define GET_INFO_REQUEST_PING_ID 10
 
 struct uxrSession;
 

src/visualization_msgs/msg/detail/interactive_marker_control__struct.h

@@ -153,7 +153,7 @@ typedef struct visualization_msgs__msg__InteractiveMarkerControl
   /// - The markers can be defined in an arbitrary coordinate frame,
   ///   but will be transformed into the local frame of the interactive marker.
   /// - If the header of a marker is empty, its pose will be interpreted as
-  /// relative to the pose of the parent interactive marker.
+  ///   relative to the pose of the parent interactive marker.
   visualization_msgs__msg__Marker__Sequence markers;
   /// In VIEW_FACING mode, set this to true if you don't want the markers
   /// to be aligned with the camera view point. The markers will show up