Update for new rclcpp_components (#319)

* Remove API composition, port to rclcpp_components. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Update logging_demo to use rclcpp_components Signed-off-by: Michael Carroll <michael@openrobotics.org> * Fix logging_demo package.xml for components. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Lint and dropping rosidl from CMakeLists. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Add explicit to single-arg constructors. Signed-off-by: Michael Carroll <michael@openrobotics.org>
ros2 · Apr 4, 2019 · 388a07d · 388a07d
1 parent 3ba4549
commit 388a07d
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Showing 23 changed files with 99 additions and 384 deletions.
diff --git a/composition/CMakeLists.txt b/composition/CMakeLists.txt
@@ -12,19 +12,12 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake REQUIRED)
-find_package(ament_index_cpp REQUIRED)
-find_package(class_loader REQUIRED)
 find_package(example_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
 find_package(rcutils REQUIRED)
-find_package(rosidl_cmake REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "srv/LoadNode.srv"
-)
-
 include_directories(include)
 
 # create ament index resource which references the libraries in the binary dir
@@ -35,43 +28,43 @@ add_library(talker_component SHARED
 target_compile_definitions(talker_component
   PRIVATE "COMPOSITION_BUILDING_DLL")
 ament_target_dependencies(talker_component
-  "class_loader"
   "rclcpp"
+  "rclcpp_components"
   "std_msgs")
-rclcpp_register_node_plugins(talker_component "composition::Talker")
+rclcpp_components_register_nodes(talker_component "composition::Talker")
 set(node_plugins "${node_plugins}composition::Talker;$<TARGET_FILE:talker_component>\n")
 
 add_library(listener_component SHARED
   src/listener_component.cpp)
 target_compile_definitions(listener_component
   PRIVATE "COMPOSITION_BUILDING_DLL")
 ament_target_dependencies(listener_component
-  "class_loader"
   "rclcpp"
+  "rclcpp_components"
   "std_msgs")
-rclcpp_register_node_plugins(listener_component "composition::Listener")
+rclcpp_components_register_nodes(listener_component "composition::Listener")
 set(node_plugins "${node_plugins}composition::Listener;$<TARGET_FILE:listener_component>\n")
 
 add_library(server_component SHARED
   src/server_component.cpp)
 target_compile_definitions(server_component
   PRIVATE "COMPOSITION_BUILDING_DLL")
 ament_target_dependencies(server_component
-  "class_loader"
   "example_interfaces"
-  "rclcpp")
-rclcpp_register_node_plugins(server_component "composition::Server")
+  "rclcpp"
+  "rclcpp_components")
+rclcpp_components_register_nodes(server_component "composition::Server")
 set(node_plugins "${node_plugins}composition::Server;$<TARGET_FILE:server_component>\n")
 
 add_library(client_component SHARED
   src/client_component.cpp)
 target_compile_definitions(client_component
   PRIVATE "COMPOSITION_BUILDING_DLL")
 ament_target_dependencies(client_component
-  "class_loader"
   "example_interfaces"
-  "rclcpp")
-rclcpp_register_node_plugins(client_component "composition::Client")
+  "rclcpp"
+  "rclcpp_components")
+rclcpp_components_register_nodes(client_component "composition::Client")
 set(node_plugins "${node_plugins}composition::Client;$<TARGET_FILE:client_component>\n")
 
 # since the package installs libraries without exporting them
@@ -107,33 +100,15 @@ endif()
 target_link_libraries(linktime_composition ${libs})
 ament_target_dependencies(linktime_composition
   "class_loader"
-  "rclcpp")
+  "rclcpp"
+  "rclcpp_components")
 
 add_executable(dlopen_composition
   src/dlopen_composition.cpp)
 ament_target_dependencies(dlopen_composition
-  "class_loader"
-  "rclcpp")
-
-add_executable(api_composition
-  src/api_composition.cpp)
-target_link_libraries(api_composition ament_index_cpp::ament_index_cpp)
-if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-  target_link_libraries(api_composition "stdc++fs")
-endif()
-ament_target_dependencies(api_composition
   "class_loader"
   "rclcpp"
-  "rcutils")
-rosidl_target_interfaces(api_composition
-  ${PROJECT_NAME} "rosidl_typesupport_cpp")
-
-add_executable(api_composition_cli
-  src/api_composition_cli.cpp)
-ament_target_dependencies(api_composition_cli
-  "rclcpp")
-rosidl_target_interfaces(api_composition_cli
-  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+  "rclcpp_components")
 
 install(TARGETS
   talker_component
@@ -148,8 +123,6 @@ install(TARGETS
   manual_composition
   linktime_composition
   dlopen_composition
-  api_composition
-  api_composition_cli
   DESTINATION lib/${PROJECT_NAME})
 
 if(BUILD_TESTING)
@@ -173,16 +146,11 @@ if(BUILD_TESTING)
     set(LISTENER_LIBRARY $<TARGET_FILE:listener_component>)
     set(SERVER_LIBRARY $<TARGET_FILE:server_component>)
     set(CLIENT_LIBRARY $<TARGET_FILE:client_component>)
-    set(API_COMPOSITION_EXECUTABLE $<TARGET_FILE:api_composition>)
-    set(API_COMPOSITION_CLI_EXECUTABLE $<TARGET_FILE:api_composition_cli>)
     set(EXPECTED_OUTPUT_ALL "${CMAKE_CURRENT_SOURCE_DIR}/test/composition_all")
     set(EXPECTED_OUTPUT_PUBSUB "${CMAKE_CURRENT_SOURCE_DIR}/test/composition_pubsub")
     set(EXPECTED_OUTPUT_SRV "${CMAKE_CURRENT_SOURCE_DIR}/test/composition_srv")
 
     set(test_names
-      "test_api_pubsub_composition"
-      "test_api_srv_composition"
-      "test_api_srv_composition_client_first"
       "test_dlopen_composition"
       "test_linktime_composition"
       "test_manual_composition"

diff --git a/composition/include/composition/client_component.hpp b/composition/include/composition/client_component.hpp
@@ -26,7 +26,7 @@ class Client : public rclcpp::Node
 {
 public:
   COMPOSITION_PUBLIC
-  Client();
+  explicit Client(rclcpp::NodeOptions options);
 
 protected:
   void on_timer();

diff --git a/composition/include/composition/listener_component.hpp b/composition/include/composition/listener_component.hpp
@@ -26,7 +26,7 @@ class Listener : public rclcpp::Node
 {
 public:
   COMPOSITION_PUBLIC
-  Listener();
+  explicit Listener(rclcpp::NodeOptions options);
 
 private:
   rclcpp::Subscription<std_msgs::msg::String>::SharedPtr sub_;

diff --git a/composition/include/composition/server_component.hpp b/composition/include/composition/server_component.hpp
@@ -26,7 +26,7 @@ class Server : public rclcpp::Node
 {
 public:
   COMPOSITION_PUBLIC
-  Server();
+  explicit Server(rclcpp::NodeOptions options);
 
 private:
   rclcpp::Service<example_interfaces::srv::AddTwoInts>::SharedPtr srv_;

diff --git a/composition/include/composition/talker_component.hpp b/composition/include/composition/talker_component.hpp
@@ -26,7 +26,7 @@ class Talker : public rclcpp::Node
 {
 public:
   COMPOSITION_PUBLIC
-  Talker();
+  explicit Talker(rclcpp::NodeOptions options);
 
 protected:
   void on_timer();

diff --git a/composition/package.xml b/composition/package.xml
@@ -8,21 +8,17 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
-  <buildtool_depend>rosidl_default_generators</buildtool_depend>
-  <build_depend>ament_index_cpp</build_depend>
-  <build_depend>class_loader</build_depend>
+
   <build_depend>example_interfaces</build_depend>
   <build_depend>rclcpp</build_depend>
+  <build_depend>rclcpp_components</build_depend>
   <build_depend>rcutils</build_depend>
-  <build_depend>rosidl_cmake</build_depend>
   <build_depend>std_msgs</build_depend>
 
-  <exec_depend>ament_index_cpp</exec_depend>
-  <exec_depend>class_loader</exec_depend>
   <exec_depend>example_interfaces</exec_depend>
   <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rclcpp_components</exec_depend>
   <exec_depend>rcutils</exec_depend>
-  <exec_depend>rosidl_default_runtime</exec_depend>
   <exec_depend>std_msgs</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
@@ -32,8 +28,6 @@
   <test_depend>launch_testing</test_depend>
   <test_depend>rmw_implementation_cmake</test_depend>
 
-  <member_of_group>rosidl_interface_packages</member_of_group>
-
   <export>
     <build_type>ament_cmake</build_type>
   </export>

diff --git a/composition/src/api_composition.cpp b/composition/src/api_composition.cpp