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Use new Blueberry v2.0.3 feature request-response and its discovery (#84)
* Implement create and destroy methods for service and client (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Implement wrapper classes for client and server and add type introspection methods accordingly (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Update Readme (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Implement 'rmw_send_request', 'rmw_take_request' and 'rmw_take_response' (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Add fixed-size path for 'rmw_send_response' and 'rmw_take_response' (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Create server and client abstraction (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Fix 'is_fixed_size' for ROS 2 services (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Properly destroy services and clients and add serialization for services (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Fix typo leading to a segfault (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Attach servers and clients to waitset (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Remove debug prints and add de-serialization to 'rmw_send_response' (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Add missing remove-from-waitset part (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Do not send 'request_header' over user payload (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Properly save the sample in 'rwm_take_request' (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Fix lost responses issue (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Implement 'rmw_get_service_names_and_types' (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Format all the things (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Update CI and docs (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Add copyright notice to all touched files (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Fix cpplint warnings (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Update Ubuntu version to be able to build for humble (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Check request pointer for 'nullptr' (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Remove out-commented code and implement setting the GUID (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Move the code to inside the happy-path lambda for client server communication (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Use default alignment when loaning for request/response (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Remove sleeps in 'rmw_send_response' as fix will be in 'v2.0.3' release (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> * Update version number in package.xml (#76) Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai> --------- Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>
1 parent b8d5472 commit cfed5d6

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‎.github/workflows/custom_repos.repos‎

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‎.github/workflows/main.yml‎

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@@ -3,7 +3,7 @@ name: Integration build rmw_iceoryx
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on:
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push:
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branches:
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- master
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- humble
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pull_request:
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jobs:
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-20.04]
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os: [ubuntu-22.04]
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steps:
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- uses: actions/checkout@v2
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- name: Setup ROS
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uses: ros-tooling/setup-ros@master
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with:
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required-ros-distributions: humble
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- name: Install Iceoryx Dependencies
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run: sudo apt-get update && sudo apt-get install -y cmake libacl1-dev libncurses5-dev pkg-config
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- name: Build & Test
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uses: ros-tooling/action-ros-ci@master
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with:
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package-name: rmw_iceoryx_cpp
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target-ros2-distro: rolling
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vcs-repo-file-url: |
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https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
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${{ github.workspace }}/.github/workflows/custom_repos.repos
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target-ros2-distro: humble

‎README.md‎

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@@ -15,26 +15,13 @@ To install rmw_iceoryx in a ROS 2 workspace with the latest ROS version, just ex
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```bash
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mkdir -p ~/iceoryx_ws/src
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cd $_
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# LATEST_ROS_VERSION could be e.g. galactic
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# LATEST_ROS_VERSION could be e.g. humble
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git clone --branch LATEST_ROS_VERSION https://github.com/ros2/rmw_iceoryx.git
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```
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For alternative installation instructions and more details about iceoryx's internals, please see [iceoryx's GitHub repo](https://github.com/eclipse/iceoryx).
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rmw_iceoryx is compatible with ROS 2 starting with Eloquent release.
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If you want to use ROS 2 rolling, you need to checkout the `master` branch of both rmw_iceoryx and iceoryx:
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```bash
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cd ~/iceoryx_ws/
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wget https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
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# Change the line of Eclipse iceoryx to "version: master"
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vcs import src < ros2.repos
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cd ~/iceoryx_ws/src
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git clone --branch master https://github.com/ros2/rmw_iceoryx.git
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```
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Assuming you have ROS 2 installed correctly, you can compile the iceoryx workspace with colcon:
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```bash
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colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF
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```
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That's it! You've installed rmw_iceoryx and are ready to rumble.
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That's it! You've installed iceoryx and are ready to rumble.
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Working with rmw_iceoryx_cpp
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============================
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| `ros2 node list` | :heavy_check_mark: |
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| `ros2 node info` | :heavy_check_mark: |
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| `ros2 interface *` | :heavy_check_mark: |
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| `ros2 service *` | :x: (coming with iceoryx v2.0) |
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| `ros2 param list` | :x: (coming with iceoryx v2.0) |
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| `ros2 service *` | :heavy_check_mark: |
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| `ros2 param list` | :x: |
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| `rqt_graph` | :heavy_check_mark: |
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| `rqt_top` | :heavy_check_mark: |
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| `rqt_console` | :heavy_check_mark: |

‎rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_deserialize.hpp‎

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// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
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// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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#define RMW_ICEORYX_CPP__ICEORYX_DESERIALIZE_HPP_
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struct rosidl_message_type_support_t;
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struct rosidl_service_type_support_t;
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namespace rmw_iceoryx_cpp
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{
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const rosidl_message_type_support_t * type_supports,
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void * ros_message);
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void deserializeRequest(
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const char * serialized_msg,
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const rosidl_service_type_support_t * type_supports,
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void * ros_message);
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void deserializeResponse(
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const char * serialized_msg,
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const rosidl_service_type_support_t * type_supports,
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void * ros_message);
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} // namespace rmw_iceoryx_cpp
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#endif // RMW_ICEORYX_CPP__ICEORYX_DESERIALIZE_HPP_

‎rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_name_conversion.hpp‎

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// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
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// Copyright (c) 2021 by ZhenshengLee. All rights reserved.
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// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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#include "iceoryx_hoofs/cxx/string.hpp"
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struct rosidl_message_type_support_t;
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struct rosidl_service_type_support_t;
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namespace rmw_iceoryx_cpp
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{
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const std::string & topic,
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const rosidl_message_type_support_t * type_supports);
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iox::capro::ServiceDescription
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get_iceoryx_service_description(
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const std::string & topic,
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const rosidl_service_type_support_t * type_supports);
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} // namespace rmw_iceoryx_cpp
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#endif // RMW_ICEORYX_CPP__ICEORYX_NAME_CONVERSION_HPP_

‎rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_serialize.hpp‎

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// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
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// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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#include <vector>
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struct rosidl_message_type_support_t;
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struct rosidl_service_type_support_t;
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namespace rmw_iceoryx_cpp
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{
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const rosidl_message_type_support_t * type_supports,
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std::vector<char> & payload_vector);
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void serializeRequest(
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const void * ros_message,
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const rosidl_service_type_support_t * type_supports,
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std::vector<char> & payload_vector);
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void serializeResponse(
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const void * ros_message,
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const rosidl_service_type_support_t * type_supports,
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std::vector<char> & payload_vector);
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} // namespace rmw_iceoryx_cpp
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#endif // RMW_ICEORYX_CPP__ICEORYX_SERIALIZE_HPP_

‎rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_topic_names_and_types.hpp‎

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// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
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// Copyright (c) 2023 by Apex.AI Inc. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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std::map<std::string, std::vector<std::string>> & topic_publishers_);
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std::map<std::string, std::string> get_topic_names_and_types();
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std::map<std::string, std::string> get_service_names_and_types();
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std::map<std::string, std::vector<std::string>> get_nodes_and_publishers();
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‎rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_type_info_introspection.hpp‎

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// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
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// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
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// Copyright (c) 2021 - 2023 by Apex.AI Inc. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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#include <utility>
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struct rosidl_message_type_support_t;
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struct rosidl_service_type_support_t;
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namespace rmw_iceoryx_cpp
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{
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const std::pair<TypeSupportLanguage, const rosidl_message_type_support_t *> get_type_support(
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const rosidl_message_type_support_t * type_supports);
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/// @brief Wraps get_service_typesupport_handle() and does error handling
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/// @return std::pair containing enum TypeSupportLanguage and handle to the type support
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const std::pair<TypeSupportLanguage, const rosidl_service_type_support_t *> get_type_support(
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const rosidl_service_type_support_t * type_supports);
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bool iceoryx_is_fixed_size(const rosidl_message_type_support_t * type_supports);
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bool iceoryx_is_fixed_size(const rosidl_service_type_support_t * type_supports);
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bool iceoryx_is_valid_type_support(const rosidl_message_type_support_t * type_supports);
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bool iceoryx_is_valid_type_support(const rosidl_service_type_support_t * type_supports);
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size_t iceoryx_get_message_size(const rosidl_message_type_support_t * type_supports);
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size_t iceoryx_get_request_size(const rosidl_service_type_support_t * type_supports);
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size_t iceoryx_get_response_size(const rosidl_service_type_support_t * type_supports);
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std::string iceoryx_get_message_name(const rosidl_message_type_support_t * type_supports);
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std::string iceoryx_get_service_name(const rosidl_service_type_support_t * type_supports);
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std::string iceoryx_get_message_namespace(const rosidl_message_type_support_t * type_supports);
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std::string iceoryx_get_service_namespace(const rosidl_service_type_support_t * type_supports);
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void iceoryx_init_message(
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const rosidl_message_type_support_t * type_supports,

‎rmw_iceoryx_cpp/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="2">
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<name>rmw_iceoryx_cpp</name>
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<version>1.0.1</version>
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<version>2.0.3</version>
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<description>rmw implementation for Bosch's zero copy middleware iceoryx</description>
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<maintainer email="karsten.knese@us.bosch.com">Karsten Knese</maintainer>
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<license>Apache License 2.0</license>

‎rmw_iceoryx_cpp/src/internal/iceoryx_deserialize.cpp‎

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// Copyright (c) 2019 by Robert Bosch GmbH. All rights reserved.
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// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
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// Copyright (c) 2021 - 2023 by Apex.AI Inc. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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#include "rosidl_typesupport_introspection_c/identifier.h"
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#include "rosidl_typesupport_introspection_c/message_introspection.h"
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#include "rosidl_typesupport_introspection_c/service_introspection.h"
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#include "rosidl_typesupport_introspection_cpp/identifier.hpp"
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#include "rosidl_typesupport_introspection_cpp/message_introspection.hpp"
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}
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}
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void deserializeRequest(
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const char * serialized_msg,
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const rosidl_service_type_support_t * type_supports,
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void * ros_message)
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{
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auto ts = get_type_support(type_supports);
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if (ts.first == TypeSupportLanguage::CPP) {
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auto members_cpp =
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static_cast<const rosidl_typesupport_introspection_cpp::ServiceMembers *>(ts.second->data);
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rmw_iceoryx_cpp::details_cpp::deserializeRequest(serialized_msg, members_cpp, ros_message);
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} else if (ts.first == TypeSupportLanguage::C) {
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auto members_c =
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static_cast<const rosidl_typesupport_introspection_c__ServiceMembers *>(ts.second->data);
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rmw_iceoryx_cpp::details_c::deserializeRequest(serialized_msg, members_c, ros_message);
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}
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}
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void deserializeResponse(
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const char * serialized_msg,
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const rosidl_service_type_support_t * type_supports,
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void * ros_message)
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{
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auto ts = get_type_support(type_supports);
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if (ts.first == TypeSupportLanguage::CPP) {
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auto members_cpp =
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static_cast<const rosidl_typesupport_introspection_cpp::ServiceMembers *>(ts.second->data);
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rmw_iceoryx_cpp::details_cpp::deserializeResponse(serialized_msg, members_cpp, ros_message);
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} else if (ts.first == TypeSupportLanguage::C) {
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auto members_c =
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static_cast<const rosidl_typesupport_introspection_c__ServiceMembers *>(ts.second->data);
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rmw_iceoryx_cpp::details_c::deserializeResponse(serialized_msg, members_c, ros_message);
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}
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}
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} // namespace rmw_iceoryx_cpp

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