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Merge remote-tracking branch 'origin/master' into read_only_parameters
Signed-off-by: William Woodall <william@osrfoundation.org>
2 parents 1765a7f + ef37018 commit 09e5e1e

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‎CONTRIBUTING.md

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@@ -11,3 +11,8 @@ be under the Apache 2 License, as dictated by that
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the terms of any separate license agreement you may have executed
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with Licensor regarding such Contributions.
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~~~
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Contributors must sign-off each commit by adding a `Signed-off-by: ...`
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line to commit messages to certify that they have the right to submit
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the code they are contributing to the project according to the
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[Developer Certificate of Origin (DCO)](https://developercertificate.org/).

‎composition/CHANGELOG.rst

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Changelog for package composition
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.7.0 (2019-04-14)
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------------------
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* Updated for new rclcpp_components package. (`#319 <https://github.com/ros2/demos/issues/319>`_)
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* Added launch along with launch_testing as test dependencies. (`#313 <https://github.com/ros2/demos/issues/313>`_)
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* Dropped legacy launch API usage. (`#311 <https://github.com/ros2/demos/issues/311>`_)
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* Contributors: Michael Carroll, Michel Hidalgo
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0.6.2 (2019-01-15)
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------------------
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‎composition/CMakeLists.txt

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@@ -12,19 +12,12 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(ament_index_cpp REQUIRED)
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find_package(class_loader REQUIRED)
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find_package(example_interfaces REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(rcutils REQUIRED)
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find_package(rosidl_cmake REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(std_msgs REQUIRED)
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rosidl_generate_interfaces(${PROJECT_NAME}
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"srv/LoadNode.srv"
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)
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include_directories(include)
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# create ament index resource which references the libraries in the binary dir
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target_compile_definitions(talker_component
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PRIVATE "COMPOSITION_BUILDING_DLL")
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ament_target_dependencies(talker_component
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"class_loader"
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"rclcpp"
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"rclcpp_components"
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"std_msgs")
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rclcpp_register_node_plugins(talker_component "composition::Talker")
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rclcpp_components_register_nodes(talker_component "composition::Talker")
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set(node_plugins "${node_plugins}composition::Talker;$<TARGET_FILE:talker_component>\n")
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add_library(listener_component SHARED
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src/listener_component.cpp)
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target_compile_definitions(listener_component
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PRIVATE "COMPOSITION_BUILDING_DLL")
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ament_target_dependencies(listener_component
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"class_loader"
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"rclcpp"
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"rclcpp_components"
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"std_msgs")
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rclcpp_register_node_plugins(listener_component "composition::Listener")
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rclcpp_components_register_nodes(listener_component "composition::Listener")
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set(node_plugins "${node_plugins}composition::Listener;$<TARGET_FILE:listener_component>\n")
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add_library(server_component SHARED
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src/server_component.cpp)
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target_compile_definitions(server_component
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PRIVATE "COMPOSITION_BUILDING_DLL")
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ament_target_dependencies(server_component
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"class_loader"
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"example_interfaces"
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"rclcpp")
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rclcpp_register_node_plugins(server_component "composition::Server")
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"rclcpp"
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"rclcpp_components")
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rclcpp_components_register_nodes(server_component "composition::Server")
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set(node_plugins "${node_plugins}composition::Server;$<TARGET_FILE:server_component>\n")
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add_library(client_component SHARED
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src/client_component.cpp)
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target_compile_definitions(client_component
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PRIVATE "COMPOSITION_BUILDING_DLL")
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ament_target_dependencies(client_component
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"class_loader"
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"example_interfaces"
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"rclcpp")
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rclcpp_register_node_plugins(client_component "composition::Client")
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"rclcpp"
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"rclcpp_components")
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rclcpp_components_register_nodes(client_component "composition::Client")
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set(node_plugins "${node_plugins}composition::Client;$<TARGET_FILE:client_component>\n")
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# since the package installs libraries without exporting them
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target_link_libraries(linktime_composition ${libs})
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ament_target_dependencies(linktime_composition
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"class_loader"
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"rclcpp")
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"rclcpp"
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"rclcpp_components")
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add_executable(dlopen_composition
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src/dlopen_composition.cpp)
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ament_target_dependencies(dlopen_composition
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"class_loader"
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"rclcpp")
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add_executable(api_composition
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src/api_composition.cpp)
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target_link_libraries(api_composition ament_index_cpp::ament_index_cpp)
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if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
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target_link_libraries(api_composition "stdc++fs")
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endif()
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ament_target_dependencies(api_composition
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"class_loader"
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"rclcpp"
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"rcutils")
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rosidl_target_interfaces(api_composition
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${PROJECT_NAME} "rosidl_typesupport_cpp")
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add_executable(api_composition_cli
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src/api_composition_cli.cpp)
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ament_target_dependencies(api_composition_cli
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"rclcpp")
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rosidl_target_interfaces(api_composition_cli
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${PROJECT_NAME} "rosidl_typesupport_cpp")
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"rclcpp_components")
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install(TARGETS
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talker_component
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manual_composition
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linktime_composition
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dlopen_composition
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api_composition
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api_composition_cli
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DESTINATION lib/${PROJECT_NAME})
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if(BUILD_TESTING)
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set(LISTENER_LIBRARY $<TARGET_FILE:listener_component>)
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set(SERVER_LIBRARY $<TARGET_FILE:server_component>)
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set(CLIENT_LIBRARY $<TARGET_FILE:client_component>)
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set(API_COMPOSITION_EXECUTABLE $<TARGET_FILE:api_composition>)
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set(API_COMPOSITION_CLI_EXECUTABLE $<TARGET_FILE:api_composition_cli>)
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set(EXPECTED_OUTPUT_ALL "${CMAKE_CURRENT_SOURCE_DIR}/test/composition_all")
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set(EXPECTED_OUTPUT_PUBSUB "${CMAKE_CURRENT_SOURCE_DIR}/test/composition_pubsub")
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set(EXPECTED_OUTPUT_SRV "${CMAKE_CURRENT_SOURCE_DIR}/test/composition_srv")
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set(test_names
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"test_api_pubsub_composition"
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"test_api_srv_composition"
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"test_api_srv_composition_client_first"
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"test_dlopen_composition"
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"test_linktime_composition"
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"test_manual_composition"

‎composition/include/composition/client_component.hpp

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{
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public:
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COMPOSITION_PUBLIC
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Client();
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explicit Client(rclcpp::NodeOptions options);
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protected:
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void on_timer();

‎composition/include/composition/listener_component.hpp

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{
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public:
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COMPOSITION_PUBLIC
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Listener();
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explicit Listener(rclcpp::NodeOptions options);
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rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;

‎composition/include/composition/server_component.hpp

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{
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public:
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COMPOSITION_PUBLIC
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Server();
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explicit Server(rclcpp::NodeOptions options);
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rclcpp::Service<example_interfaces::srv::AddTwoInts>::SharedPtr srv_;

‎composition/include/composition/talker_component.hpp

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{
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public:
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COMPOSITION_PUBLIC
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Talker();
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explicit Talker(rclcpp::NodeOptions options);
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protected:
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void on_timer();

‎composition/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>composition</name>
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<version>0.6.2</version>
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<version>0.7.0</version>
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<description>Examples for composing multiple nodes in a single process.</description>
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<maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
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<license>Apache License 2.0</license>
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<buildtool_depend>ament_cmake</buildtool_depend>
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<buildtool_depend>rosidl_default_generators</buildtool_depend>
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<build_depend>ament_index_cpp</build_depend>
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<build_depend>class_loader</build_depend>
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<build_depend>example_interfaces</build_depend>
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<build_depend>rclcpp</build_depend>
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<build_depend>rclcpp_components</build_depend>
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<build_depend>rcutils</build_depend>
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<build_depend>rosidl_cmake</build_depend>
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<build_depend>std_msgs</build_depend>
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<exec_depend>ament_index_cpp</exec_depend>
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<exec_depend>class_loader</exec_depend>
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<exec_depend>example_interfaces</exec_depend>
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<exec_depend>rclcpp</exec_depend>
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<exec_depend>rclcpp_components</exec_depend>
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<exec_depend>rcutils</exec_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<test_depend>ament_cmake_pytest</test_depend>
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<test_depend>launch_testing</test_depend>
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<test_depend>rmw_implementation_cmake</test_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<export>
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<build_type>ament_cmake</build_type>
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</export>

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