Merge branch 'master' into mauro/clean-events-executor

Author: Mauro Passerino

rclcpp/include/rclcpp/time_source.hpp

@@ -32,6 +32,20 @@ namespace rclcpp
 {
 class Clock;
 
+/**
+ * Time source that will drive the attached clocks.
+ *
+ * If the attached node `use_sim_time` parameter is `true`, the attached clocks will
+ * be updated based on messages received.
+ *
+ * The subscription to the clock topic created by the time source can have it's qos reconfigured
+ * using parameter overrides, particularly the following ones are accepted:
+ *
+ * - qos_overrides./clock.depth
+ * - qos_overrides./clock.durability
+ * - qos_overrides./clock.history
+ * - qos_overrides./clock.reliability
+ */
 class TimeSource
 {
 public:

rclcpp/src/rclcpp/executors/static_executor_entities_collector.cpp

@@ -323,8 +323,7 @@ StaticExecutorEntitiesCollector::add_callback_group(
     throw std::runtime_error("Callback group was already added to executor.");
   }
   if (is_new_node) {
-    rclcpp::node_interfaces::NodeBaseInterface::WeakPtr node_weak_ptr(node_ptr);
-    weak_nodes_to_guard_conditions_[node_weak_ptr] = node_ptr->get_notify_guard_condition();
+    weak_nodes_to_guard_conditions_[node_ptr] = node_ptr->get_notify_guard_condition();
     return true;
   }
   return false;

rclcpp/src/rclcpp/executors/static_single_threaded_executor.cpp

@@ -175,9 +175,10 @@ StaticSingleThreadedExecutor::execute_ready_executables()
   }
   // Execute all the ready waitables
   for (size_t i = 0; i < entities_collector_->get_number_of_waitables(); ++i) {
-    if (entities_collector_->get_waitable(i)->is_ready(&wait_set_)) {
-      std::shared_ptr<void> shared_ptr;
-      entities_collector_->get_waitable(i)->execute(shared_ptr);
+    auto waitable = entities_collector_->get_waitable(i);
+    if (waitable->is_ready(&wait_set_)) {
+      auto data = waitable->take_data();
+      waitable->execute(data);
     }
   }
 }

rclcpp/src/rclcpp/node_interfaces/node_timers.cpp

@@ -16,6 +16,8 @@
 
 #include <string>
 
+#include "tracetools/tracetools.h"
+
 using rclcpp::node_interfaces::NodeTimers;
 
 NodeTimers::NodeTimers(rclcpp::node_interfaces::NodeBaseInterface * node_base)
@@ -44,4 +46,8 @@ NodeTimers::add_timer(
             std::string("Failed to notify wait set on timer creation: ") +
             rmw_get_error_string().str);
   }
+  TRACEPOINT(
+    rclcpp_timer_link_node,
+    static_cast<const void *>(timer->get_timer_handle().get()),
+    static_cast<const void *>(node_base_->get_rcl_node_handle()));
 }

rclcpp/src/rclcpp/time_source.cpp

@@ -233,11 +233,22 @@ void TimeSource::create_clock_sub()
     return;
   }
 
+  rclcpp::SubscriptionOptions options;
+  options.qos_overriding_options = rclcpp::QosOverridingOptions(
+    {
+      rclcpp::QosPolicyKind::Depth,
+      rclcpp::QosPolicyKind::Durability,
+      rclcpp::QosPolicyKind::History,
+      rclcpp::QosPolicyKind::Reliability,
+    });
+
   clock_subscription_ = rclcpp::create_subscription<rosgraph_msgs::msg::Clock>(
+    node_parameters_,
     node_topics_,
     "/clock",
     rclcpp::QoS(KeepLast(1)).best_effort(),
-    std::bind(&TimeSource::clock_cb, this, std::placeholders::_1)
+    std::bind(&TimeSource::clock_cb, this, std::placeholders::_1),
+    options
   );
 }
 

rclcpp/test/rclcpp/test_executor.cpp

@@ -122,14 +122,14 @@ TEST_F(TestExecutor, constructor_bad_guard_condition_init) {
   auto mock = mocking_utils::patch_and_return(
     "lib:rclcpp", rcl_guard_condition_init, RCL_RET_ERROR);
   EXPECT_THROW(
-    new DummyExecutor(),
+    static_cast<void>(std::make_unique<DummyExecutor>()),
     rclcpp::exceptions::RCLError);
 }
 
 TEST_F(TestExecutor, constructor_bad_wait_set_init) {
   auto mock = mocking_utils::patch_and_return("lib:rclcpp", rcl_wait_set_init, RCL_RET_ERROR);
   RCLCPP_EXPECT_THROW_EQ(
-    new DummyExecutor(),
+    static_cast<void>(std::make_unique<DummyExecutor>()),
     std::runtime_error("Failed to create wait set in Executor constructor: error not set"));
 }