Cleanup the dependencies in rclcpp_components. (#2918)

The most important change in here is the changes to the package.xml
and the CMakeLists.txt, which now properly export the dependencies
to downstream packages as required.  On those two fronts:

1.  Make sure to add a dependency on rmw, which this package does depend
    on for rmw_request_id_t
2. Make sure to add a dependency on rcl_interfaces, which this package
   also depends on.
3. Export depend class_loader, composition_interfaces, rclcpp,
   rcpputils, and rmw, all of which are exported in the header files.
4. Remove the unnecessary test dependencies on launch_testing and
   std_msgs, neither of which is used.

The rest of the change here is to cleanup the header files to include
what you use everywhere.

Signed-off-by: Chris Lalancette <[email protected]>

Author: clalancette

rclcpp_components/CMakeLists.txt

@@ -19,7 +19,9 @@ find_package(ament_index_cpp REQUIRED)
 find_package(class_loader REQUIRED)
 find_package(composition_interfaces REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rcl_interfaces REQUIRED)
 find_package(rcpputils REQUIRED)
+find_package(rmw REQUIRED)
 
 # Add an interface library that can be depended upon by libraries who register components
 add_library(component INTERFACE)
@@ -39,13 +41,15 @@ target_include_directories(component_manager PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
 target_link_libraries(component_manager PUBLIC
+  class_loader::class_loader
   ${composition_interfaces_TARGETS}
   rclcpp::rclcpp
+  rmw::rmw
 )
 target_link_libraries(component_manager PRIVATE
   ament_index_cpp::ament_index_cpp
-  class_loader::class_loader
   rcpputils::rcpputils
+  ${rcl_interfaces_TARGETS}
 )
 target_compile_definitions(component_manager
   PRIVATE "RCLCPP_COMPONENTS_BUILDING_LIBRARY")
@@ -54,13 +58,13 @@ add_executable(
   component_container
   src/component_container.cpp
 )
-target_link_libraries(component_container component_manager rclcpp::rclcpp)
+target_link_libraries(component_container PRIVATE component_manager rclcpp::rclcpp)
 
 add_executable(
   component_container_event
   src/component_container_event.cpp
 )
-target_link_libraries(component_container_event component_manager rclcpp::rclcpp)
+target_link_libraries(component_container_event PRIVATE component_manager rclcpp::rclcpp)
 
 set(node_main_template_install_dir "share/${PROJECT_NAME}")
 install(FILES
@@ -71,19 +75,13 @@ add_executable(
   component_container_mt
   src/component_container_mt.cpp
 )
-target_link_libraries(component_container_mt component_manager rclcpp::rclcpp)
+target_link_libraries(component_container_mt PRIVATE component_manager rclcpp::rclcpp)
 
 add_executable(
   component_container_isolated
   src/component_container_isolated.cpp
 )
-target_link_libraries(component_container_isolated component_manager rclcpp::rclcpp)
-
-if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
-  target_link_libraries(component_container "stdc++fs")
-  target_link_libraries(component_container_mt "stdc++fs")
-  target_link_libraries(component_container_isolated "stdc++fs")
-endif()
+target_link_libraries(component_container_isolated PRIVATE component_manager rclcpp::rclcpp)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
@@ -174,9 +172,5 @@ ament_export_libraries(component_manager)
 # Export modern CMake targets
 ament_export_targets(export_${PROJECT_NAME})
 
-# specific order: dependents before dependencies
-ament_export_dependencies(ament_index_cpp)
-ament_export_dependencies(class_loader)
-ament_export_dependencies(composition_interfaces)
-ament_export_dependencies(rclcpp)
+ament_export_dependencies(class_loader composition_interfaces rclcpp rcpputils rmw)
 ament_package(CONFIG_EXTRAS rclcpp_components-extras.cmake.in)

rclcpp_components/include/rclcpp_components/component_manager.hpp

@@ -43,10 +43,13 @@
 
 #include <map>
 #include <memory>
+#include <stdexcept>
 #include <string>
 #include <utility>
 #include <vector>
 
+#include "class_loader/class_loader.hpp"
+
 #include "composition_interfaces/srv/load_node.hpp"
 #include "composition_interfaces/srv/unload_node.hpp"
 #include "composition_interfaces/srv/list_nodes.hpp"
@@ -56,12 +59,10 @@
 #include "rclcpp/rclcpp.hpp"
 
 #include "rclcpp_components/node_factory.hpp"
+#include "rclcpp_components/node_instance_wrapper.hpp"
 #include "rclcpp_components/visibility_control.hpp"
 
-namespace class_loader
-{
-class ClassLoader;
-}  // namespace class_loader
+#include "rmw/types.h"
 
 namespace rclcpp_components
 {

rclcpp_components/include/rclcpp_components/component_manager_isolated.hpp

@@ -16,14 +16,20 @@
 #ifndef RCLCPP_COMPONENTS__COMPONENT_MANAGER_ISOLATED_HPP__
 #define RCLCPP_COMPONENTS__COMPONENT_MANAGER_ISOLATED_HPP__
 
+#include <atomic>
+#include <chrono>
 #include <map>
 #include <memory>
 #include <string>
+#include <thread>
+#include <unordered_map>
 #include <utility>
 #include <vector>
-#include <unordered_map>
 #include <system_error>
 
+#include "rclcpp/executor.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/utilities.hpp"
 #include "rclcpp_components/component_manager.hpp"
 #include "rcpputils/thread_name.hpp"
 

rclcpp_components/include/rclcpp_components/node_factory_template.hpp

@@ -18,7 +18,10 @@
 #include <functional>
 #include <memory>
 
+#include "rclcpp/node_options.hpp"
+
 #include "rclcpp_components/node_factory.hpp"
+#include "rclcpp_components/node_instance_wrapper.hpp"
 
 namespace rclcpp_components
 {

rclcpp_components/include/rclcpp_components/register_node_macro.hpp

@@ -16,6 +16,7 @@
 #define RCLCPP_COMPONENTS__REGISTER_NODE_MACRO_HPP__
 
 #include "class_loader/class_loader.hpp"
+#include "rclcpp_components/node_factory.hpp"
 #include "rclcpp_components/node_factory_template.hpp"
 
 /// Register a component that can be dynamically loaded at runtime.

rclcpp_components/package.xml

@@ -16,23 +16,32 @@
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
 
+  <build_export_depend>class_loader</build_export_depend>
+  <build_export_depend>composition_interfaces</build_export_depend>
+  <build_export_depend>rclcpp</build_export_depend>
+  <build_export_depend>rcpputils</build_export_depend>
+  <build_export_depend>rmw</build_export_depend>
+
   <build_depend>ament_index_cpp</build_depend>
   <build_depend>class_loader</build_depend>
   <build_depend>composition_interfaces</build_depend>
   <build_depend>rclcpp</build_depend>
+  <build_depend>rcl_interfaces</build_depend>
   <build_depend>rcpputils</build_depend>
+  <build_depend>rmw</build_depend>
 
   <exec_depend>ament_index_cpp</exec_depend>
   <exec_depend>class_loader</exec_depend>
   <exec_depend>composition_interfaces</exec_depend>
   <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rcl_interfaces</exec_depend>
+  <exec_depend>rcpputils</exec_depend>
+  <exec_depend>rmw</exec_depend>
 
   <test_depend>ament_cmake_google_benchmark</test_depend>
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
-  <test_depend>launch_testing</test_depend>
-  <test_depend>std_msgs</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>

rclcpp_components/src/component_container.cpp

@@ -14,7 +14,8 @@
 
 #include <memory>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "rclcpp_components/component_manager.hpp"
 
@@ -26,4 +27,6 @@ int main(int argc, char * argv[])
   auto node = std::make_shared<rclcpp_components::ComponentManager>(exec);
   exec->add_node(node);
   exec->spin();
+
+  return 0;
 }

rclcpp_components/src/component_container_event.cpp

@@ -14,7 +14,7 @@
 
 #include <memory>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/utilities.hpp"
 #include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
 
 #include "rclcpp_components/component_manager.hpp"
@@ -27,4 +27,6 @@ int main(int argc, char * argv[])
   auto node = std::make_shared<rclcpp_components::ComponentManager>(exec);
   exec->add_node(node);
   exec->spin();
+
+  return 0;
 }

rclcpp_components/src/component_container_isolated.cpp

@@ -16,8 +16,10 @@
 #include <vector>
 #include <string>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
+#include "rclcpp/executors/multi_threaded_executor.hpp"
 #include "rclcpp/utilities.hpp"
+
 #include "rclcpp_components/component_manager_isolated.hpp"
 
 int main(int argc, char * argv[])
@@ -46,4 +48,6 @@ int main(int argc, char * argv[])
   }
   exec->add_node(node);
   exec->spin();
+
+  return 0;
 }

rclcpp_components/src/component_container_mt.cpp

@@ -14,7 +14,8 @@
 
 #include <memory>
 
-#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/executors/multi_threaded_executor.hpp"
+#include "rclcpp/utilities.hpp"
 
 #include "rclcpp_components/component_manager.hpp"
 
@@ -35,4 +36,6 @@ int main(int argc, char * argv[])
   }
   exec->add_node(node);
   exec->spin();
+
+  return 0;
 }