micro-ROS foxy Library auto-update 15-07-2021 06:18 (#374)

Co-authored-by: pablogs9 <[email protected]>

Author: github-actions[bot]

built_packages

@@ -12,7 +12,7 @@ https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git acb2fb6f7b5bde2
 https://github.com/micro-ROS/rosidl_typesupport.git 5d974dbee4cd6988ce33923246eb404db327fad8
 https://github.com/micro-ROS/rcutils 0fd0c442dfa343dcfd0cb3674012039bed0c9389
 https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing d11b87737245b8456bbada44dfa7b1d670b1c4d0
-https://github.com/ros2/rclc 5b11c5a9ca2e0f120f8d1dfeb30bf480689abfa9
+https://github.com/ros2/rclc f246f1accf6a3e6ea22ff4ffb8f0f229f635694b
 https://github.com/micro-ROS/micro_ros_msgs.git c8af6d4f246d1b324e6578ec967c8ddc1f4093d5
 https://github.com/ros-controls/control_msgs 338ef98b4a4d763fe5df39e86a1967844ceb506e
 https://github.com/ros2/rcl_interfaces.git ee04e046132be9d9fdcdaeff8dd54a5d0d9aa022

src/cortex-m0plus/libmicroros.a

@@ -78,6 +78,34 @@ rclc_client_init_best_effort(
   const rosidl_service_type_support_t * type_support,
   const char * service_name);
 
+/**
+ *  Creates an rcl client with defined QoS
+ *
+ *  * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes (in RCL)
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[inout] client pointer to zero_initialized rcl_client_t
+ * \param[in] node pointer to an initialized rcl node
+ * \param[in] type_support the message data type
+ * \param[in] service_name the name of service topic
+ * \param[in] qos_profile the qos of the topic
+ * \return `RCL_RET_OK` if successful
+ * \return `RCL_ERROR` (or other error code) if an error has occurred
+ */
+RCLC_PUBLIC
+rcl_ret_t
+rclc_client_init(
+  rcl_client_t * client,
+  const rcl_node_t * node,
+  const rosidl_service_type_support_t * type_support,
+  const char * service_name,
+  const rmw_qos_profile_t * qos_profile);
+
 #if __cplusplus
 }
 #endif

src/cortex-m3/libmicroros.a

@@ -601,6 +601,30 @@ rclc_executor_remove_guard_condition(
   rclc_executor_t * executor,
   const rcl_guard_condition_t * guard_condition);
 
+/**
+ *  The executor prepare function prepare the waitset of the executor if
+ *  it is invalid. Does nothing if a valid waitset is already prepared.
+ *
+ * Memory is dynamically allocated within rcl-layer, when DDS queue is accessed with rcl_wait_set_init()
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | Yes
+ * Thread-Safe        | No
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ *
+ * \param [inout] executor pointer to initialized executor
+ * \return `RCL_RET_OK` if executor prepare operation was successful
+ * \return `RCL_RET_INVALID_ARGUMENT` if any parameter is a null pointer
+ * \return `RCL_RET_ERROR` if any other error occured
+ */
+RCLC_PUBLIC
+rcl_ret_t
+rclc_executor_prepare(
+  rclc_executor_t * executor);
 
 /**
  *  The spin-some function checks one-time for new data from the DDS-queue.