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‎CHANGELOG.rst‎

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‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.12)
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project(rclcpp)
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find_package(Threads REQUIRED)
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find_package(ament_cmake_ros REQUIRED)
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find_package(ament_index_cpp REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(libstatistics_collector REQUIRED)
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find_package(rcl REQUIRED)
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find_package(rcl_interfaces REQUIRED)
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find_package(rcl_yaml_param_parser REQUIRED)
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find_package(rcpputils REQUIRED)
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find_package(rcutils REQUIRED)
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find_package(rmw REQUIRED)
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find_package(rosgraph_msgs REQUIRED)
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find_package(rosidl_runtime_cpp REQUIRED)
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find_package(rosidl_typesupport_c REQUIRED)
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find_package(rosidl_typesupport_cpp REQUIRED)
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find_package(statistics_msgs REQUIRED)
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find_package(tracetools REQUIRED)
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# TODO(wjwwood): remove this when gtest can build on its own, when using target_compile_features()
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# Default to C++17
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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# About -Wno-sign-conversion: With Clang, -Wconversion implies -Wsign-conversion. There are a number of
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# implicit sign conversions in rclcpp and gtest.cc, see https://ci.ros2.org/job/ci_osx/9265/.
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# Hence disabling -Wsign-conversion for now until all those have eventually been fixed.
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# (from https://github.com/ros2/rclcpp/pull/1188#issuecomment-650229140)
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add_compile_options(-Wall -Wextra -Wconversion -Wno-sign-conversion -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
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endif()
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set(${PROJECT_NAME}_SRCS
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src/rclcpp/any_executable.cpp
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src/rclcpp/callback_group.cpp
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src/rclcpp/client.cpp
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src/rclcpp/clock.cpp
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src/rclcpp/context.cpp
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src/rclcpp/contexts/default_context.cpp
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src/rclcpp/detail/add_guard_condition_to_rcl_wait_set.cpp
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src/rclcpp/detail/resolve_parameter_overrides.cpp
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src/rclcpp/detail/rmw_implementation_specific_payload.cpp
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src/rclcpp/detail/rmw_implementation_specific_publisher_payload.cpp
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src/rclcpp/detail/rmw_implementation_specific_subscription_payload.cpp
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src/rclcpp/detail/utilities.cpp
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src/rclcpp/duration.cpp
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src/rclcpp/event.cpp
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src/rclcpp/exceptions/exceptions.cpp
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src/rclcpp/executable_list.cpp
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src/rclcpp/executor.cpp
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src/rclcpp/executors.cpp
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src/rclcpp/executors/multi_threaded_executor.cpp
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src/rclcpp/executors/single_threaded_executor.cpp
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src/rclcpp/executors/static_executor_entities_collector.cpp
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src/rclcpp/executors/static_single_threaded_executor.cpp
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src/rclcpp/expand_topic_or_service_name.cpp
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src/rclcpp/future_return_code.cpp
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src/rclcpp/generic_publisher.cpp
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src/rclcpp/generic_subscription.cpp
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src/rclcpp/graph_listener.cpp
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src/rclcpp/guard_condition.cpp
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src/rclcpp/init_options.cpp
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src/rclcpp/intra_process_manager.cpp
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src/rclcpp/logger.cpp
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src/rclcpp/logging_mutex.cpp
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src/rclcpp/memory_strategies.cpp
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src/rclcpp/memory_strategy.cpp
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src/rclcpp/message_info.cpp
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src/rclcpp/network_flow_endpoint.cpp
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src/rclcpp/node.cpp
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src/rclcpp/node_interfaces/node_base.cpp
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src/rclcpp/node_interfaces/node_clock.cpp
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src/rclcpp/node_interfaces/node_graph.cpp
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src/rclcpp/node_interfaces/node_logging.cpp
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src/rclcpp/node_interfaces/node_parameters.cpp
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src/rclcpp/node_interfaces/node_services.cpp
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src/rclcpp/node_interfaces/node_time_source.cpp
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src/rclcpp/node_interfaces/node_timers.cpp
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src/rclcpp/node_interfaces/node_topics.cpp
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src/rclcpp/node_interfaces/node_waitables.cpp
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src/rclcpp/node_options.cpp
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src/rclcpp/parameter.cpp
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src/rclcpp/parameter_client.cpp
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src/rclcpp/parameter_event_handler.cpp
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src/rclcpp/parameter_events_filter.cpp
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src/rclcpp/parameter_map.cpp
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src/rclcpp/parameter_service.cpp
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src/rclcpp/parameter_value.cpp
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src/rclcpp/publisher_base.cpp
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src/rclcpp/qos.cpp
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src/rclcpp/qos_event.cpp
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src/rclcpp/qos_overriding_options.cpp
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src/rclcpp/serialization.cpp
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src/rclcpp/serialized_message.cpp
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src/rclcpp/service.cpp
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src/rclcpp/signal_handler.cpp
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src/rclcpp/subscription_base.cpp
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src/rclcpp/subscription_intra_process_base.cpp
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src/rclcpp/time.cpp
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src/rclcpp/time_source.cpp
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src/rclcpp/timer.cpp
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src/rclcpp/type_support.cpp
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src/rclcpp/typesupport_helpers.cpp
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src/rclcpp/utilities.cpp
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src/rclcpp/wait_set_policies/detail/write_preferring_read_write_lock.cpp
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src/rclcpp/waitable.cpp
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)
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find_package(Python3 REQUIRED COMPONENTS Interpreter)
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# "watch" template for changes
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configure_file(
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"resource/logging.hpp.em"
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"logging.hpp.em.watch"
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COPYONLY
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)
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# generate header with logging macros
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set(python_code_logging
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"import em"
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"em.invoke(['-o', 'include/rclcpp/logging.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/logging.hpp.em'])")
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string(REPLACE ";" "$<SEMICOLON>" python_code_logging "${python_code_logging}")
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add_custom_command(OUTPUT include/rclcpp/logging.hpp
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COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp"
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COMMAND Python3::Interpreter ARGS -c "${python_code_logging}"
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DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/logging.hpp.em.watch"
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COMMENT "Expanding logging.hpp.em"
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VERBATIM
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)
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list(APPEND ${PROJECT_NAME}_SRCS
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include/rclcpp/logging.hpp)
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file(GLOB interface_files "include/rclcpp/node_interfaces/node_*_interface.hpp")
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foreach(interface_file ${interface_files})
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get_filename_component(interface_name ${interface_file} NAME_WE)
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# "watch" template for changes
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configure_file(
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"resource/interface_traits.hpp.em"
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"${CMAKE_CURRENT_BINARY_DIR}/${interface_name}_traits.hpp.em.watch"
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COPYONLY
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)
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set(python_${interface_name}_traits
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"import em"
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"em.invoke(['-D', 'interface_name = \\'${interface_name}\\'', '-o', 'include/rclcpp/node_interfaces/${interface_name}_traits.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/interface_traits.hpp.em'])")
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string(REPLACE ";" "$<SEMICOLON>" python_${interface_name}_traits "${python_${interface_name}_traits}")
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add_custom_command(OUTPUT include/rclcpp/node_interfaces/${interface_name}_traits.hpp
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COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp/node_interfaces"
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COMMAND Python3::Interpreter ARGS -c "${python_${interface_name}_traits}"
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DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/${interface_name}_traits.hpp.em.watch"
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COMMENT "Expanding interface_traits.hpp.em into ${interface_name}_traits.hpp"
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VERBATIM
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)
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list(APPEND ${PROJECT_NAME}_SRCS
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include/rclcpp/node_interfaces/${interface_name}_traits.hpp)
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# "watch" template for changes
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configure_file(
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"resource/get_interface.hpp.em"
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"get_${interface_name}.hpp.em.watch"
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COPYONLY
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)
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set(python_get_${interface_name}
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"import em"
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"em.invoke(['-D', 'interface_name = \\'${interface_name}\\'', '-o', 'include/rclcpp/node_interfaces/get_${interface_name}.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/get_interface.hpp.em'])")
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string(REPLACE ";" "$<SEMICOLON>" python_get_${interface_name} "${python_get_${interface_name}}")
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add_custom_command(OUTPUT include/rclcpp/node_interfaces/get_${interface_name}.hpp
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COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp/node_interfaces"
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COMMAND Python3::Interpreter ARGS -c "${python_get_${interface_name}}"
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DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/get_${interface_name}.hpp.em.watch"
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COMMENT "Expanding get_interface.hpp.em into get_${interface_file}.hpp"
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VERBATIM
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)
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list(APPEND ${PROJECT_NAME}_SRCS
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include/rclcpp/node_interfaces/get_${interface_name}.hpp)
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endforeach()
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add_library(${PROJECT_NAME} ${${PROJECT_NAME}_SRCS})
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target_compile_features(${PROJECT_NAME} PUBLIC cxx_std_17)
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# TODO(wjwwood): address all deprecation warnings and then remove this
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if(WIN32)
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target_compile_definitions(${PROJECT_NAME} PUBLIC "_SILENCE_ALL_CXX17_DEPRECATION_WARNINGS")
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endif()
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target_include_directories(${PROJECT_NAME} PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
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"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
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target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})
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# specific order: dependents before dependencies
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ament_target_dependencies(${PROJECT_NAME}
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"ament_index_cpp"
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"libstatistics_collector"
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"rcl"
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"rcl_interfaces"
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"rcl_yaml_param_parser"
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"rcpputils"
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"rcutils"
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"builtin_interfaces"
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"rosgraph_msgs"
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"rosidl_typesupport_cpp"
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"rosidl_runtime_cpp"
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"statistics_msgs"
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"tracetools"
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)
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(${PROJECT_NAME}
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PRIVATE "RCLCPP_BUILDING_LIBRARY")
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install(
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TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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# Export old-style CMake variables
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ament_export_include_directories("include/${PROJECT_NAME}")
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ament_export_libraries(${PROJECT_NAME})
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# Export modern CMake targets
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ament_export_targets(${PROJECT_NAME})
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# specific order: dependents before dependencies
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ament_export_dependencies(ament_index_cpp)
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ament_export_dependencies(libstatistics_collector)
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ament_export_dependencies(rcl)
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ament_export_dependencies(rcpputils)
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ament_export_dependencies(rcutils)
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ament_export_dependencies(builtin_interfaces)
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ament_export_dependencies(rosgraph_msgs)
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ament_export_dependencies(rosidl_typesupport_cpp)
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ament_export_dependencies(rosidl_typesupport_c)
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ament_export_dependencies(rosidl_runtime_cpp)
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ament_export_dependencies(rcl_yaml_param_parser)
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ament_export_dependencies(statistics_msgs)
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ament_export_dependencies(tracetools)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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add_subdirectory(test)
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endif()
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ament_package()
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install(
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DIRECTORY include/ ${CMAKE_CURRENT_BINARY_DIR}/include/
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DESTINATION include/${PROJECT_NAME}
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)
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if(TEST cppcheck)
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# must set the property after ament_package()
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set_tests_properties(cppcheck PROPERTIES TIMEOUT 500)
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endif()
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ament_generate_version_header(${PROJECT_NAME})

‎Doxyfile‎

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# All settings not listed here will use the Doxygen default values.
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PROJECT_NAME = "rclcpp"
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PROJECT_NUMBER = master
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PROJECT_BRIEF = "C++ ROS Client Library API"
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# Use these lines to include the generated logging.hpp (update install path if needed)
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#INPUT = ../../../../install_isolated/rclcpp/include
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#STRIP_FROM_PATH = /Users/william/ros2_ws/install_isolated/rclcpp/include
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# Otherwise just generate for the local (non-generated header files)
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INPUT = ./include
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RECURSIVE = YES
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OUTPUT_DIRECTORY = doc_output
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EXTRACT_ALL = YES
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SORT_MEMBER_DOCS = NO
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GENERATE_LATEX = NO
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ENABLE_PREPROCESSING = YES
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MACRO_EXPANSION = YES
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EXPAND_ONLY_PREDEF = YES
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PREDEFINED += DOXYGEN_ONLY
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PREDEFINED += RCLCPP_LOCAL=
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PREDEFINED += RCLCPP_PUBLIC=
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PREDEFINED += RCLCPP_PUBLIC_TYPE=
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PREDEFINED += RCUTILS_WARN_UNUSED=
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PREDEFINED += RCPPUTILS_TSA_GUARDED_BY(x)=
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PREDEFINED += RCPPUTILS_TSA_PT_GUARDED_BY(x)=
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PREDEFINED += RCPPUTILS_TSA_REQUIRES(x)=
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DOT_GRAPH_MAX_NODES = 101
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# Tag files that do not exist will produce a warning and cross-project linking will not work.
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#TAGFILES += "../../../../doxygen_tag_files/cppreference-doxygen-web.tag.xml=http://en.cppreference.com/w/"
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# Consider changing "latest" to the version you want to reference (e.g. beta1 or 1.0.0)
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#TAGFILES += "../../../../doxygen_tag_files/rcl.tag=http://docs.ros2.org/latest/api/rcl/"
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#TAGFILES += "../../../../doxygen_tag_files/rmw.tag=http://docs.ros2.org/latest/api/rmw/"
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#TAGFILES += "../../../../doxygen_tag_files/rcutils.tag=http://docs.ros2.org/latest/api/rcutils/"
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# Uncomment to generate tag files for cross-project linking.
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#GENERATE_TAGFILE = "../../../../doxygen_tag_files/rclcpp.tag"

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