composition package from demos repo

action_tutorials_cpp action_tutorials_interfaces action_tutorials_py composition demo_nodes_cpp demo_nodes_cpp_native demo_nodes_py dummy_map_server dummy_robot_bringup dummy_sensors image_tools intra_process_demo lifecycle lifecycle_py logging_demo pendulum_control pendulum_msgs quality_of_service_demo_cpp quality_of_service_demo_py topic_monitor topic_statistics_demo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.20.5
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros2/demos.git
VCS Type	git
VCS Version	humble
Last Updated	2024-07-26
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Examples for composing multiple nodes in a single process.

Additional Links

No additional links.

Maintainers

Audrow Nash
Michael Jeronimo

Authors

Dirk Thomas
Mabel Zhang

composition/README.md

What Is This?

This demo provides examples of three different ways to use the rclcpp_components API to compose multiple nodes in a single process.

This ROS 2 package consists of the following demo applications:

dlopen_composition
linktime_composition
manual_composition

Build

Run the commands below to build the ROS 2 package:

colcon build --packages-up-to composition

Run

Manual Composition

Running manual_composition compiles an executable that runs the following 4 components:

Talker: A ROS 2 component that publishes a string
Listener: A ROS 2 component that prints the received string from Talker
Server: A ROS 2 component that adds two integers and outputs its result to Client
Client: A ROS 2 component that sends two integers to Server and prints the received result from Server

ros2 run composition manual_composition

DlOpen Composition

This runs dlopen_composition which is an alternative to run-time composition by creating a generic container process and explicitly passing the libraries to load without using ROS interfaces.

The process will open each library and create one instance of each “rclcpp::Node” class in the library.

ros2 run composition dlopen_composition `ros2 pkg prefix composition`/lib/libtalker_component.so `ros2 pkg prefix composition`/lib/liblistener_component.so

Linktime Composition

Similar to previous, this runs linktime_composition which links all classes from libraries that are registered under the library_path with the linker.

ros2 run composition linktime_composition

Composition Using Launch Actions

Rather than using the command line tool to run each composition, we can automate this action with ros2 launch functionality:

ros2 launch composition composition_demo.launch.py

Verify

Manual Composition

When executed correctly, strings should be printed to terminal similar to what is shown below:

[INFO] [1674528188.026468320] [talker]: Publishing: 'Hello World: 1'
[INFO] [1674528188.027043857] [listener]: I heard: [Hello World: 1]
[INFO] [1674528189.026414368] [talker]: Publishing: 'Hello World: 2'
[INFO] [1674528189.026742015] [listener]: I heard: [Hello World: 2]
[INFO] [1674528189.032512995] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528189.032815843] [Client]: Got result: [5]
[INFO] [1674528190.026455807] [talker]: Publishing: 'Hello World: 3'
[INFO] [1674528190.026795770] [listener]: I heard: [Hello World: 3]
[INFO] [1674528191.026457639] [talker]: Publishing: 'Hello World: 4'
[INFO] [1674528191.026801926] [listener]: I heard: [Hello World: 4]
[INFO] [1674528191.032377264] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528191.032604427] [Client]: Got result: [5]
[INFO] [1674528192.026428269] [talker]: Publishing: 'Hello World: 5'
[INFO] [1674528192.026537974] [listener]: I heard: [Hello World: 5]
[INFO] [1674528193.026437034] [talker]: Publishing: 'Hello World: 6'
[INFO] [1674528193.026767708] [listener]: I heard: [Hello World: 6]
[INFO] [1674528193.032377748] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528193.032603036] [Client]: Got result: [5]
#...

:warning:

Note that manually-composed components will not be reflected in the ros2 component list command line tool output.

DlOpen Composition

When executed correctly, strings should be printed to terminal similar to what is shown below:

INFO] [1674529118.496557668] [dlopen_composition]: Load library /opt/ros/humble/lib/libtalker_component.so
[INFO] [1674529118.496774575] [dlopen_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Talker>
[INFO] [1674529118.503388909] [dlopen_composition]: Load library /opt/ros/humble/lib/liblistener_component.so
[INFO] [1674529118.503739855] [dlopen_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Listener>
[INFO] [1674529119.503505873] [talker]: Publishing: 'Hello World: 1'
[INFO] [1674529119.503770137] [listener]: I heard: [Hello World: 1]
[INFO] [1674529120.503572362] [talker]: Publishing: 'Hello World: 2'
[INFO] [1674529120.503888374] [listener]: I heard: [Hello World: 2]
[INFO] [1674529121.503503459] [talker]: Publishing: 'Hello World: 3'
[INFO] [1674529121.503628269] [listener]: I heard: [Hello World: 3]
[INFO] [1674529122.503557862] [talker]: Publishing: 'Hello World: 4'
[INFO] [1674529122.503894772] [listener]: I heard: [Hello World: 4]
[INFO] [1674529123.503574524] [talker]: Publishing: 'Hello World: 5'
[INFO] [1674529123.503884894] [listener]: I heard: [Hello World: 5]
#...

:warning:

Note that dlopen-composed components will not be reflected in the ros2 component list command line tool output.

Linktime Composition

When executed correctly, strings should be printed to terminal similar to what is shown below:

[INFO] [1674528568.091949637] [linktime_composition]: Load library
[INFO] [1674528568.091995119] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Client>
[INFO] [1674528568.098833910] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Listener>
[INFO] [1674528568.100669644] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Server>
[INFO] [1674528568.102665704] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Talker>
[INFO] [1674528569.104717098] [talker]: Publishing: 'Hello World: 1'
[INFO] [1674528569.105206993] [listener]: I heard: [Hello World: 1]
[INFO] [1674528570.099206827] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528570.099376432] [Client]: Got result: [5]
[INFO] [1674528570.104656875] [talker]: Publishing: 'Hello World: 2'
[INFO] [1674528570.105069514] [listener]: I heard: [Hello World: 2]
[INFO] [1674528571.104710545] [talker]: Publishing: 'Hello World: 3'
[INFO] [1674528571.105150094] [listener]: I heard: [Hello World: 3]
[INFO] [1674528572.099350955] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528572.099628903] [Client]: Got result: [5]
[INFO] [1674528572.104631322] [talker]: Publishing: 'Hello World: 4'
[INFO] [1674528572.104911174] [listener]: I heard: [Hello World: 4]
[INFO] [1674528573.104596009] [talker]: Publishing: 'Hello World: 5'
[INFO] [1674528573.104751214] [listener]: I heard: [Hello World: 5]
#...

:warning:

Note that linktime-composed components will not be reflected in the ros2 component list command line tool output.

Composition Using Launch Actions

When executed correctly, strings should be printed to terminal similar to what is shown below:

[INFO] [launch]: All log files can be found below /root/.ros/log/2024-05-04-23-37-06-363020-d8ff93e471d7-9387
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [9402]
[component_container-1] [INFO] [1714865826.695090046] [my_container]: Load Library: /opt/ros/jazzy/lib/libtalker_component.so
[component_container-1] [INFO] [1714865826.696388047] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<composition::Talker>
[component_container-1] [INFO] [1714865826.696435882] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Talker>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/talker' in container '/my_container'
[component_container-1] [INFO] [1714865826.702958710] [my_container]: Load Library: /opt/ros/jazzy/lib/liblistener_component.so
[component_container-1] [INFO] [1714865826.703401061] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<composition::Listener>
[component_container-1] [INFO] [1714865826.703414344] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Listener>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/listener' in container '/my_container'
[component_container-1] [INFO] [1714865827.701941449] [talker]: Publishing: 'Hello World: 1'
[component_container-1] [INFO] [1714865827.702047599] [listener]: I heard: [Hello World: 1]
[component_container-1] [INFO] [1714865828.701984118] [talker]: Publishing: 'Hello World: 2'
[component_container-1] [INFO] [1714865828.702154523] [listener]: I heard: [Hello World: 2]
[component_container-1] [INFO] [1714865829.702004471] [talker]: Publishing: 'Hello World: 3'
[component_container-1] [INFO] [1714865829.702176059] [listener]: I heard: [Hello World: 3]
[component_container-1] [INFO] [1714865830.701876733] [talker]: Publishing: 'Hello World: 4'
[component_container-1] [INFO] [1714865830.701965546] [listener]: I heard: [Hello World: 4]
[component_container-1] [INFO] [1714865831.701885355] [talker]: Publishing: 'Hello World: 5'
[component_container-1] [INFO] [1714865831.701984823] [listener]: I heard: [Hello World: 5]

FAQ

Q: Why use node composition?

A: Node composition avoids the overhead of marshalling and unmarshaling messages by allowing nodes to be instantiated within the same process.

References

CHANGELOG

Changelog for package composition

0.20.5 (2024-07-26)

0.20.4 (2024-05-15)

[composition] add launch action console output in the verify section (#677) (#682)
Contributors: mergify[bot]

0.20.3 (2023-01-10)

0.20.2 (2022-05-10)

0.20.1 (2022-04-08)

0.20.0 (2022-03-01)

0.19.0 (2022-01-14)

0.18.0 (2021-12-17)

Update maintainers to Audrow Nash and Michael Jeronimo (#543)
Additional fixes for documentation in demos. (#538)
Contributors: Audrow Nash, Chris Lalancette

0.17.0 (2021-10-18)

Fixing deprecated subscriber callback warnings (#532)
Contributors: Abrar Rahman Protyasha

0.16.0 (2021-08-11)

0.15.0 (2021-05-14)

0.14.2 (2021-04-26)

0.14.1 (2021-04-19)

0.14.0 (2021-04-06)

0.13.0 (2021-03-25)

0.12.1 (2021-03-18)

0.12.0 (2021-01-25)

Fix leak(#480) (#481)
Contributors: y-okumura-isp

0.11.0 (2020-12-10)

Update the package.xml files with the latest Open Robotics maintainers (#466)
Contributors: Michael Jeronimo

0.10.1 (2020-09-21)

0.10.0 (2020-06-17)

0.9.3 (2020-06-01)

0.9.2 (2020-05-26)

0.9.1 (2020-05-12)

0.9.0 (2020-04-30)

Replace deprecated launch_ros usage (#437)
Update launch_ros action usage (#431)
code style only: wrap after open parenthesis if not in one line (#429)
Contributors: Dirk Thomas, Jacob Perron

0.8.4 (2019-11-19)

0.8.3 (2019-11-11)

0.8.2 (2019-11-08)

0.8.1 (2019-10-23)

Replace ready_fn with ReadyToTest action (#404)
Contributors: Peter Baughman

0.8.0 (2019-09-26)

Add an demo component not inherited from rclcpp::Node (#393)
Contributors: Michael Carroll

0.7.6 (2019-05-30)

0.7.5 (2019-05-29)

0.7.4 (2019-05-20)

0.7.3 (2019-05-10)

0.7.2 (2019-05-08)

changes to avoid deprecated API's (#332)
Corrected publish calls with shared_ptr signature (#327)
Migrate launch tests to new launch_testing features & API (#318)
Contributors: Michel Hidalgo, William Woodall, ivanpauno

0.7.1 (2019-04-26)

Renamed launch file, updated to avoid redundant default actions, and set output to screen. (#326)
Updated constructor to const ref to NodeOptions. (#323)
Added basic composition launch demo. (#324)
Contributors: Michael Carroll, William Woodall

0.7.0 (2019-04-14)

Updated for new rclcpp_components package. (#319)
Added launch along with launch_testing as test dependencies. (#313)
Dropped legacy launch API usage. (#311)
Contributors: Michael Carroll, Michel Hidalgo

0.6.2 (2019-01-15)

0.6.1 (2018-12-13)

0.6.0 (2018-12-07)

Added semicolons to all RCLCPP and RCUTILS macros. (#278)
Contributors: Chris Lalancette

0.5.1 (2018-06-28)

0.5.0 (2018-06-27)

Updated launch files to account for the "old launch" getting renamespaced as launch -> launch.legacy. (#239)
Updated to avoid newly deprecated class loader headers. (#229)
Added a periodic log message while waiting for a service response.
Contributors: Dirk Thomas, Michael Carroll, Mikael Arguedas, William Woodall

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	example_interfaces
	rclcpp
	rclcpp_components
	rcutils
	std_msgs
	ament_cmake
	launch_ros
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	launch
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rmw_implementation_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
test_launch_ros
desktop

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `composition` at Robotics Stack Exchange

API Docs Browse Code

composition package from demos repo

action_tutorials_cpp action_tutorials_interfaces action_tutorials_py composition demo_nodes_cpp demo_nodes_cpp_native demo_nodes_py dummy_map_server dummy_robot_bringup dummy_sensors image_tools intra_process_demo lifecycle lifecycle_py logging_demo pendulum_control pendulum_msgs quality_of_service_demo_cpp quality_of_service_demo_py topic_monitor topic_statistics_demo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.27.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros2/demos.git
VCS Type	git
VCS Version	iron
Last Updated	2024-07-11
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Examples for composing multiple nodes in a single process.

Additional Links

No additional links.

Maintainers

Aditya Pande
Audrow Nash
Michael Jeronimo

Authors

Dirk Thomas
Mabel Zhang

composition/README.md

What Is This?

This demo provides examples of three different ways to use the rclcpp_components API to compose multiple nodes in a single process.

This ROS 2 package consists of the following demo applications:

dlopen_composition
linktime_composition
manual_composition

Build

Run the commands below to build the ROS 2 package:

colcon build --packages-up-to composition

Run

Manual Composition

Running manual_composition compiles an executable that runs the following 4 components:

Talker: A ROS 2 component that publishes a string
Listener: A ROS 2 component that prints the received string from Talker
Server: A ROS 2 component that adds two integers and outputs its result to Client
Client: A ROS 2 component that sends two integers to Server and prints the received result from Server

ros2 run composition manual_composition

DlOpen Composition

This runs dlopen_composition which is an alternative to run-time composition by creating a generic container process and explicitly passing the libraries to load without using ROS interfaces.

The process will open each library and create one instance of each “rclcpp::Node” class in the library.

ros2 run composition dlopen_composition `ros2 pkg prefix composition`/lib/libtalker_component.so `ros2 pkg prefix composition`/lib/liblistener_component.so

Linktime Composition

Similar to previous, this runs linktime_composition which links all classes from libraries that are registered under the library_path with the linker.

ros2 run composition linktime_composition

Composition Using Launch Actions

Rather than using the command line tool to run each composition, we can automate this action with ros2 launch functionality:

ros2 launch composition composition_demo_launch.py

Verify

Manual Composition

When executed correctly, strings should be printed to terminal similar to what is shown below:

[INFO] [1674528188.026468320] [talker]: Publishing: 'Hello World: 1'
[INFO] [1674528188.027043857] [listener]: I heard: [Hello World: 1]
[INFO] [1674528189.026414368] [talker]: Publishing: 'Hello World: 2'
[INFO] [1674528189.026742015] [listener]: I heard: [Hello World: 2]
[INFO] [1674528189.032512995] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528189.032815843] [Client]: Got result: [5]
[INFO] [1674528190.026455807] [talker]: Publishing: 'Hello World: 3'
[INFO] [1674528190.026795770] [listener]: I heard: [Hello World: 3]
[INFO] [1674528191.026457639] [talker]: Publishing: 'Hello World: 4'
[INFO] [1674528191.026801926] [listener]: I heard: [Hello World: 4]
[INFO] [1674528191.032377264] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528191.032604427] [Client]: Got result: [5]
[INFO] [1674528192.026428269] [talker]: Publishing: 'Hello World: 5'
[INFO] [1674528192.026537974] [listener]: I heard: [Hello World: 5]
[INFO] [1674528193.026437034] [talker]: Publishing: 'Hello World: 6'
[INFO] [1674528193.026767708] [listener]: I heard: [Hello World: 6]
[INFO] [1674528193.032377748] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528193.032603036] [Client]: Got result: [5]
#...

:warning:

Note that manually-composed components will not be reflected in the ros2 component list command line tool output.

DlOpen Composition

When executed correctly, strings should be printed to terminal similar to what is shown below:

INFO] [1674529118.496557668] [dlopen_composition]: Load library /opt/ros/rolling/lib/libtalker_component.so
[INFO] [1674529118.496774575] [dlopen_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Talker>
[INFO] [1674529118.503388909] [dlopen_composition]: Load library /opt/ros/rolling/lib/liblistener_component.so
[INFO] [1674529118.503739855] [dlopen_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Listener>
[INFO] [1674529119.503505873] [talker]: Publishing: 'Hello World: 1'
[INFO] [1674529119.503770137] [listener]: I heard: [Hello World: 1]
[INFO] [1674529120.503572362] [talker]: Publishing: 'Hello World: 2'
[INFO] [1674529120.503888374] [listener]: I heard: [Hello World: 2]
[INFO] [1674529121.503503459] [talker]: Publishing: 'Hello World: 3'
[INFO] [1674529121.503628269] [listener]: I heard: [Hello World: 3]
[INFO] [1674529122.503557862] [talker]: Publishing: 'Hello World: 4'
[INFO] [1674529122.503894772] [listener]: I heard: [Hello World: 4]
[INFO] [1674529123.503574524] [talker]: Publishing: 'Hello World: 5'
[INFO] [1674529123.503884894] [listener]: I heard: [Hello World: 5]
#...

:warning:

Note that dlopen-composed components will not be reflected in the ros2 component list command line tool output.

Linktime Composition

When executed correctly, strings should be printed to terminal similar to what is shown below:

[INFO] [1674528568.091949637] [linktime_composition]: Load library
[INFO] [1674528568.091995119] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Client>
[INFO] [1674528568.098833910] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Listener>
[INFO] [1674528568.100669644] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Server>
[INFO] [1674528568.102665704] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Talker>
[INFO] [1674528569.104717098] [talker]: Publishing: 'Hello World: 1'
[INFO] [1674528569.105206993] [listener]: I heard: [Hello World: 1]
[INFO] [1674528570.099206827] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528570.099376432] [Client]: Got result: [5]
[INFO] [1674528570.104656875] [talker]: Publishing: 'Hello World: 2'
[INFO] [1674528570.105069514] [listener]: I heard: [Hello World: 2]
[INFO] [1674528571.104710545] [talker]: Publishing: 'Hello World: 3'
[INFO] [1674528571.105150094] [listener]: I heard: [Hello World: 3]
[INFO] [1674528572.099350955] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528572.099628903] [Client]: Got result: [5]
[INFO] [1674528572.104631322] [talker]: Publishing: 'Hello World: 4'
[INFO] [1674528572.104911174] [listener]: I heard: [Hello World: 4]
[INFO] [1674528573.104596009] [talker]: Publishing: 'Hello World: 5'
[INFO] [1674528573.104751214] [listener]: I heard: [Hello World: 5]
#...

:warning:

Note that linktime-composed components will not be reflected in the ros2 component list command line tool output.

Composition Using Launch Actions

When executed correctly, strings should be printed to terminal similar to what is shown below:

[INFO] [launch]: All log files can be found below /root/.ros/log/2024-05-04-23-37-06-363020-d8ff93e471d7-9387
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [9402]
[component_container-1] [INFO] [1714865826.695090046] [my_container]: Load Library: /opt/ros/iron/lib/libtalker_component.so
[component_container-1] [INFO] [1714865826.696388047] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<composition::Talker>
[component_container-1] [INFO] [1714865826.696435882] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Talker>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/talker' in container '/my_container'
[component_container-1] [INFO] [1714865826.702958710] [my_container]: Load Library: /opt/ros/iron/lib/liblistener_component.so
[component_container-1] [INFO] [1714865826.703401061] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<composition::Listener>
[component_container-1] [INFO] [1714865826.703414344] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Listener>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/listener' in container '/my_container'
[component_container-1] [INFO] [1714865827.701941449] [talker]: Publishing: 'Hello World: 1'
[component_container-1] [INFO] [1714865827.702047599] [listener]: I heard: [Hello World: 1]
[component_container-1] [INFO] [1714865828.701984118] [talker]: Publishing: 'Hello World: 2'
[component_container-1] [INFO] [1714865828.702154523] [listener]: I heard: [Hello World: 2]
[component_container-1] [INFO] [1714865829.702004471] [talker]: Publishing: 'Hello World: 3'
[component_container-1] [INFO] [1714865829.702176059] [listener]: I heard: [Hello World: 3]
[component_container-1] [INFO] [1714865830.701876733] [talker]: Publishing: 'Hello World: 4'
[component_container-1] [INFO] [1714865830.701965546] [listener]: I heard: [Hello World: 4]
[component_container-1] [INFO] [1714865831.701885355] [talker]: Publishing: 'Hello World: 5'
[component_container-1] [INFO] [1714865831.701984823] [listener]: I heard: [Hello World: 5]

FAQ

Q: Why use node composition?

A: Node composition avoids the overhead of marshalling and unmarshaling messages by allowing nodes to be instantiated within the same process.

References

CHANGELOG

Changelog for package composition

0.27.2 (2024-07-10)

Add launch action console output in the verify section (#683)
Contributors: Mikael Arguedas

0.27.1 (2023-05-11)

0.27.0 (2023-04-13)

Change all ROS2 -> ROS 2. (#610)
Contributors: Chris Lalancette

0.26.0 (2023-04-11)

update launch file name format to match documentation (#588)
Contributors: Patrick Wspanialy

0.25.0 (2023-03-01)

0.24.1 (2023-02-24)

0.24.0 (2023-02-14)

Added README.md for composition (#598)
Update the demos to C++17. (#594)
[rolling] Update maintainers - 2022-11-07 (#589)
Contributors: Audrow Nash, Chris Lalancette, Gary Bey

0.23.0 (2022-11-02)

fix memory leak (#585)
Contributors: Chen Lihui

0.22.0 (2022-09-13)

0.21.0 (2022-04-29)

0.20.1 (2022-04-08)

0.20.0 (2022-03-01)

0.19.0 (2022-01-14)

0.18.0 (2021-12-17)

Update maintainers to Audrow Nash and Michael Jeronimo (#543)
Additional fixes for documentation in demos. (#538)
Contributors: Audrow Nash, Chris Lalancette

0.17.0 (2021-10-18)

Fixing deprecated subscriber callback warnings (#532)
Contributors: Abrar Rahman Protyasha

0.16.0 (2021-08-11)

0.15.0 (2021-05-14)

0.14.2 (2021-04-26)

0.14.1 (2021-04-19)

0.14.0 (2021-04-06)

0.13.0 (2021-03-25)

0.12.1 (2021-03-18)

0.12.0 (2021-01-25)

Fix leak(#480) (#481)
Contributors: y-okumura-isp

0.11.0 (2020-12-10)

Update the package.xml files with the latest Open Robotics maintainers (#466)
Contributors: Michael Jeronimo

0.10.1 (2020-09-21)

0.10.0 (2020-06-17)

0.9.3 (2020-06-01)

0.9.2 (2020-05-26)

0.9.1 (2020-05-12)

0.9.0 (2020-04-30)

Replace deprecated launch_ros usage (#437)
Update launch_ros action usage (#431)
code style only: wrap after open parenthesis if not in one line (#429)
Contributors: Dirk Thomas, Jacob Perron

0.8.4 (2019-11-19)

0.8.3 (2019-11-11)

0.8.2 (2019-11-08)

0.8.1 (2019-10-23)

Replace ready_fn with ReadyToTest action (#404)
Contributors: Peter Baughman

0.8.0 (2019-09-26)

Add an demo component not inherited from rclcpp::Node (#393)
Contributors: Michael Carroll

0.7.6 (2019-05-30)

0.7.5 (2019-05-29)

0.7.4 (2019-05-20)

0.7.3 (2019-05-10)

0.7.2 (2019-05-08)

changes to avoid deprecated API's (#332)
Corrected publish calls with shared_ptr signature (#327)
Migrate launch tests to new launch_testing features & API (#318)
Contributors: Michel Hidalgo, William Woodall, ivanpauno

0.7.1 (2019-04-26)

Renamed launch file, updated to avoid redundant default actions, and set output to screen. (#326)
Updated constructor to const ref to NodeOptions. (#323)
Added basic composition launch demo. (#324)
Contributors: Michael Carroll, William Woodall

0.7.0 (2019-04-14)

Updated for new rclcpp_components package. (#319)
Added launch along with launch_testing as test dependencies. (#313)
Dropped legacy launch API usage. (#311)
Contributors: Michael Carroll, Michel Hidalgo

0.6.2 (2019-01-15)

0.6.1 (2018-12-13)

0.6.0 (2018-12-07)

Added semicolons to all RCLCPP and RCUTILS macros. (#278)
Contributors: Chris Lalancette

0.5.1 (2018-06-28)

0.5.0 (2018-06-27)

Updated launch files to account for the "old launch" getting renamespaced as launch -> launch.legacy. (#239)
Updated to avoid newly deprecated class loader headers. (#229)
Added a periodic log message while waiting for a service response.
Contributors: Dirk Thomas, Michael Carroll, Mikael Arguedas, William Woodall

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	example_interfaces
	rclcpp
	rclcpp_components
	rcutils
	std_msgs
	ament_cmake
	launch_ros
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	launch
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rmw_implementation_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
test_launch_ros
desktop

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `composition` at Robotics Stack Exchange

API Docs Browse Code

composition package from demos repo

action_tutorials_cpp action_tutorials_interfaces action_tutorials_py composition demo_nodes_cpp demo_nodes_cpp_native demo_nodes_py dummy_map_server dummy_robot_bringup dummy_sensors image_tools intra_process_demo lifecycle lifecycle_py logging_demo pendulum_control pendulum_msgs quality_of_service_demo_cpp quality_of_service_demo_py topic_monitor topic_statistics_demo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.33.5
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros2/demos.git
VCS Type	git
VCS Version	jazzy
Last Updated	2024-09-06
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Examples for composing multiple nodes in a single process.

Additional Links

No additional links.

Maintainers

Aditya Pande
Audrow Nash

Authors

Dirk Thomas
Mabel Zhang

composition/README.md

What Is This?

This demo provides examples of three different ways to use the rclcpp_components API to compose multiple nodes in a single process.

This ROS 2 package consists of the following demo applications:

dlopen_composition
linktime_composition
manual_composition

Build

Run the commands below to build the ROS 2 package:

colcon build --packages-up-to composition

Run

Manual Composition

Running manual_composition compiles an executable that runs the following 4 components:

Talker: A ROS 2 component that publishes a string
Listener: A ROS 2 component that prints the received string from Talker
Server: A ROS 2 component that adds two integers and outputs its result to Client
Client: A ROS 2 component that sends two integers to Server and prints the received result from Server

ros2 run composition manual_composition

DlOpen Composition

This runs dlopen_composition which is an alternative to run-time composition by creating a generic container process and explicitly passing the libraries to load without using ROS interfaces.

The process will open each library and create one instance of each “rclcpp::Node” class in the library.

ros2 run composition dlopen_composition `ros2 pkg prefix composition`/lib/libtalker_component.so `ros2 pkg prefix composition`/lib/liblistener_component.so

Linktime Composition

Similar to previous, this runs linktime_composition which links all classes from libraries that are registered under the library_path with the linker.

ros2 run composition linktime_composition

Composition Using Launch Actions

Rather than using the command line tool to run each composition, we can automate this action with ros2 launch functionality:

ros2 launch composition composition_demo_launch.py

Verify

Manual Composition

When executed correctly, strings should be printed to terminal similar to what is shown below:

[INFO] [1674528188.026468320] [talker]: Publishing: 'Hello World: 1'
[INFO] [1674528188.027043857] [listener]: I heard: [Hello World: 1]
[INFO] [1674528189.026414368] [talker]: Publishing: 'Hello World: 2'
[INFO] [1674528189.026742015] [listener]: I heard: [Hello World: 2]
[INFO] [1674528189.032512995] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528189.032815843] [Client]: Got result: [5]
[INFO] [1674528190.026455807] [talker]: Publishing: 'Hello World: 3'
[INFO] [1674528190.026795770] [listener]: I heard: [Hello World: 3]
[INFO] [1674528191.026457639] [talker]: Publishing: 'Hello World: 4'
[INFO] [1674528191.026801926] [listener]: I heard: [Hello World: 4]
[INFO] [1674528191.032377264] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528191.032604427] [Client]: Got result: [5]
[INFO] [1674528192.026428269] [talker]: Publishing: 'Hello World: 5'
[INFO] [1674528192.026537974] [listener]: I heard: [Hello World: 5]
[INFO] [1674528193.026437034] [talker]: Publishing: 'Hello World: 6'
[INFO] [1674528193.026767708] [listener]: I heard: [Hello World: 6]
[INFO] [1674528193.032377748] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528193.032603036] [Client]: Got result: [5]
#...

:warning:

Note that manually-composed components will not be reflected in the ros2 component list command line tool output.

DlOpen Composition

When executed correctly, strings should be printed to terminal similar to what is shown below:

INFO] [1674529118.496557668] [dlopen_composition]: Load library /opt/ros/rolling/lib/libtalker_component.so
[INFO] [1674529118.496774575] [dlopen_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Talker>
[INFO] [1674529118.503388909] [dlopen_composition]: Load library /opt/ros/rolling/lib/liblistener_component.so
[INFO] [1674529118.503739855] [dlopen_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Listener>
[INFO] [1674529119.503505873] [talker]: Publishing: 'Hello World: 1'
[INFO] [1674529119.503770137] [listener]: I heard: [Hello World: 1]
[INFO] [1674529120.503572362] [talker]: Publishing: 'Hello World: 2'
[INFO] [1674529120.503888374] [listener]: I heard: [Hello World: 2]
[INFO] [1674529121.503503459] [talker]: Publishing: 'Hello World: 3'
[INFO] [1674529121.503628269] [listener]: I heard: [Hello World: 3]
[INFO] [1674529122.503557862] [talker]: Publishing: 'Hello World: 4'
[INFO] [1674529122.503894772] [listener]: I heard: [Hello World: 4]
[INFO] [1674529123.503574524] [talker]: Publishing: 'Hello World: 5'
[INFO] [1674529123.503884894] [listener]: I heard: [Hello World: 5]
#...

:warning:

Note that dlopen-composed components will not be reflected in the ros2 component list command line tool output.

Linktime Composition

When executed correctly, strings should be printed to terminal similar to what is shown below:

[INFO] [1674528568.091949637] [linktime_composition]: Load library
[INFO] [1674528568.091995119] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Client>
[INFO] [1674528568.098833910] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Listener>
[INFO] [1674528568.100669644] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Server>
[INFO] [1674528568.102665704] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Talker>
[INFO] [1674528569.104717098] [talker]: Publishing: 'Hello World: 1'
[INFO] [1674528569.105206993] [listener]: I heard: [Hello World: 1]
[INFO] [1674528570.099206827] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528570.099376432] [Client]: Got result: [5]
[INFO] [1674528570.104656875] [talker]: Publishing: 'Hello World: 2'
[INFO] [1674528570.105069514] [listener]: I heard: [Hello World: 2]
[INFO] [1674528571.104710545] [talker]: Publishing: 'Hello World: 3'
[INFO] [1674528571.105150094] [listener]: I heard: [Hello World: 3]
[INFO] [1674528572.099350955] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528572.099628903] [Client]: Got result: [5]
[INFO] [1674528572.104631322] [talker]: Publishing: 'Hello World: 4'
[INFO] [1674528572.104911174] [listener]: I heard: [Hello World: 4]
[INFO] [1674528573.104596009] [talker]: Publishing: 'Hello World: 5'
[INFO] [1674528573.104751214] [listener]: I heard: [Hello World: 5]
#...

:warning:

Note that linktime-composed components will not be reflected in the ros2 component list command line tool output.

Composition Using Launch Actions

When executed correctly, strings should be printed to terminal similar to what is shown below:

[INFO] [launch]: All log files can be found below /root/.ros/log/2024-05-04-23-37-06-363020-d8ff93e471d7-9387
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [9402]
[component_container-1] [INFO] [1714865826.695090046] [my_container]: Load Library: /opt/ros/jazzy/lib/libtalker_component.so
[component_container-1] [INFO] [1714865826.696388047] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<composition::Talker>
[component_container-1] [INFO] [1714865826.696435882] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Talker>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/talker' in container '/my_container'
[component_container-1] [INFO] [1714865826.702958710] [my_container]: Load Library: /opt/ros/jazzy/lib/liblistener_component.so
[component_container-1] [INFO] [1714865826.703401061] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<composition::Listener>
[component_container-1] [INFO] [1714865826.703414344] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Listener>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/listener' in container '/my_container'
[component_container-1] [INFO] [1714865827.701941449] [talker]: Publishing: 'Hello World: 1'
[component_container-1] [INFO] [1714865827.702047599] [listener]: I heard: [Hello World: 1]
[component_container-1] [INFO] [1714865828.701984118] [talker]: Publishing: 'Hello World: 2'
[component_container-1] [INFO] [1714865828.702154523] [listener]: I heard: [Hello World: 2]
[component_container-1] [INFO] [1714865829.702004471] [talker]: Publishing: 'Hello World: 3'
[component_container-1] [INFO] [1714865829.702176059] [listener]: I heard: [Hello World: 3]
[component_container-1] [INFO] [1714865830.701876733] [talker]: Publishing: 'Hello World: 4'
[component_container-1] [INFO] [1714865830.701965546] [listener]: I heard: [Hello World: 4]
[component_container-1] [INFO] [1714865831.701885355] [talker]: Publishing: 'Hello World: 5'
[component_container-1] [INFO] [1714865831.701984823] [listener]: I heard: [Hello World: 5]

FAQ

Q: Why use node composition?

A: Node composition avoids the overhead of marshalling and unmarshaling messages by allowing nodes to be instantiated within the same process.

References

CHANGELOG

Changelog for package composition

0.33.5 (2024-09-06)

0.33.4 (2024-06-27)

0.33.3 (2024-05-13)

[composition] add launch action console output in the verify section (#677) (#681) (cherry picked from commit 34d29db73e78a84a174ad8699a2d646b0eeb1cdf) Co-authored-by: Mikael Arguedas <<mikael.arguedas@gmail.com>>
Contributors: mergify[bot]

0.33.2 (2024-03-28)

Update maintainer list in package.xml files (#665)
Contributors: Michael Jeronimo

0.33.1 (2024-02-07)

0.33.0 (2024-01-24)

Migrate std::bind calls to lambda expressions (#659)
Contributors: Felipe Gomes de Melo

0.32.1 (2023-12-26)

0.32.0 (2023-11-06)

0.31.1 (2023-09-07)

0.31.0 (2023-08-21)

0.30.1 (2023-07-11)

0.30.0 (2023-06-12)

0.29.0 (2023-06-07)

0.28.1 (2023-05-11)

0.28.0 (2023-04-27)

0.27.0 (2023-04-13)

Change all ROS2 -> ROS 2. (#610)
Contributors: Chris Lalancette

0.26.0 (2023-04-11)

update launch file name format to match documentation (#588)
Contributors: Patrick Wspanialy

0.25.0 (2023-03-01)

0.24.1 (2023-02-24)

0.24.0 (2023-02-14)

Added README.md for composition (#598)
Update the demos to C++17. (#594)
[rolling] Update maintainers - 2022-11-07 (#589)
Contributors: Audrow Nash, Chris Lalancette, Gary Bey

0.23.0 (2022-11-02)

fix memory leak (#585)
Contributors: Chen Lihui

0.22.0 (2022-09-13)

0.21.0 (2022-04-29)

0.20.1 (2022-04-08)

0.20.0 (2022-03-01)

0.19.0 (2022-01-14)

0.18.0 (2021-12-17)

Update maintainers to Audrow Nash and Michael Jeronimo (#543)
Additional fixes for documentation in demos. (#538)
Contributors: Audrow Nash, Chris Lalancette

0.17.0 (2021-10-18)

Fixing deprecated subscriber callback warnings (#532)
Contributors: Abrar Rahman Protyasha

0.16.0 (2021-08-11)

0.15.0 (2021-05-14)

0.14.2 (2021-04-26)

0.14.1 (2021-04-19)

0.14.0 (2021-04-06)

0.13.0 (2021-03-25)

0.12.1 (2021-03-18)

0.12.0 (2021-01-25)

Fix leak(#480) (#481)
Contributors: y-okumura-isp

0.11.0 (2020-12-10)

Update the package.xml files with the latest Open Robotics maintainers (#466)
Contributors: Michael Jeronimo

0.10.1 (2020-09-21)

0.10.0 (2020-06-17)

0.9.3 (2020-06-01)

0.9.2 (2020-05-26)

0.9.1 (2020-05-12)

0.9.0 (2020-04-30)

Replace deprecated launch_ros usage (#437)
Update launch_ros action usage (#431)
code style only: wrap after open parenthesis if not in one line (#429)
Contributors: Dirk Thomas, Jacob Perron

0.8.4 (2019-11-19)

0.8.3 (2019-11-11)

0.8.2 (2019-11-08)

0.8.1 (2019-10-23)

Replace ready_fn with ReadyToTest action (#404)
Contributors: Peter Baughman

0.8.0 (2019-09-26)

Add an demo component not inherited from rclcpp::Node (#393)
Contributors: Michael Carroll

0.7.6 (2019-05-30)

0.7.5 (2019-05-29)

0.7.4 (2019-05-20)

0.7.3 (2019-05-10)

0.7.2 (2019-05-08)

changes to avoid deprecated API's (#332)
Corrected publish calls with shared_ptr signature (#327)
Migrate launch tests to new launch_testing features & API (#318)
Contributors: Michel Hidalgo, William Woodall, ivanpauno

0.7.1 (2019-04-26)

Renamed launch file, updated to avoid redundant default actions, and set output to screen. (#326)
Updated constructor to const ref to NodeOptions. (#323)
Added basic composition launch demo. (#324)
Contributors: Michael Carroll, William Woodall

0.7.0 (2019-04-14)

Updated for new rclcpp_components package. (#319)
Added launch along with launch_testing as test dependencies. (#313)
Dropped legacy launch API usage. (#311)
Contributors: Michael Carroll, Michel Hidalgo

0.6.2 (2019-01-15)

0.6.1 (2018-12-13)

0.6.0 (2018-12-07)

Added semicolons to all RCLCPP and RCUTILS macros. (#278)
Contributors: Chris Lalancette

0.5.1 (2018-06-28)

0.5.0 (2018-06-27)

Updated launch files to account for the "old launch" getting renamespaced as launch -> launch.legacy. (#239)
Updated to avoid newly deprecated class loader headers. (#229)
Added a periodic log message while waiting for a service response.
Contributors: Dirk Thomas, Michael Carroll, Mikael Arguedas, William Woodall

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	example_interfaces
	rclcpp
	rclcpp_components
	rcutils
	std_msgs
	ament_cmake
	launch_ros
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	launch
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rmw_implementation_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
test_launch_ros
desktop

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `composition` at Robotics Stack Exchange

API Docs Browse Code

composition package from demos repo

action_tutorials_cpp action_tutorials_py composition demo_nodes_cpp demo_nodes_cpp_native demo_nodes_py dummy_map_server dummy_robot_bringup dummy_sensors image_tools intra_process_demo lifecycle lifecycle_py logging_demo pendulum_control pendulum_msgs quality_of_service_demo_cpp quality_of_service_demo_py topic_monitor topic_statistics_demo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.35.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros2/demos.git
VCS Type	git
VCS Version	rolling
Last Updated	2024-11-01
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Examples for composing multiple nodes in a single process.

Additional Links

No additional links.

Maintainers

Aditya Pande
Audrow Nash

Authors

Dirk Thomas
Mabel Zhang

composition/README.md

What Is This?

This demo provides examples of three different ways to use the rclcpp_components API to compose multiple nodes in a single process.

This ROS 2 package consists of the following demo applications:

dlopen_composition
linktime_composition
manual_composition

Build

Run the commands below to build the ROS 2 package:

colcon build --packages-up-to composition

Run

Manual Composition

Running manual_composition compiles an executable that runs the following 4 components:

Talker: A ROS 2 component that publishes a string
Listener: A ROS 2 component that prints the received string from Talker
Server: A ROS 2 component that adds two integers and outputs its result to Client
Client: A ROS 2 component that sends two integers to Server and prints the received result from Server

ros2 run composition manual_composition

DlOpen Composition

This runs dlopen_composition which is an alternative to run-time composition by creating a generic container process and explicitly passing the libraries to load without using ROS interfaces.

The process will open each library and create one instance of each “rclcpp::Node” class in the library.

ros2 run composition dlopen_composition `ros2 pkg prefix composition`/lib/libtalker_component.so `ros2 pkg prefix composition`/lib/liblistener_component.so

Linktime Composition

Similar to previous, this runs linktime_composition which links all classes from libraries that are registered under the library_path with the linker.

ros2 run composition linktime_composition

Composition Using Launch Actions

Rather than using the command line tool to run each composition, we can automate this action with ros2 launch functionality:

ros2 launch composition composition_demo_launch.py

Verify

Manual Composition

When executed correctly, strings should be printed to terminal similar to what is shown below:

[INFO] [1674528188.026468320] [talker]: Publishing: 'Hello World: 1'
[INFO] [1674528188.027043857] [listener]: I heard: [Hello World: 1]
[INFO] [1674528189.026414368] [talker]: Publishing: 'Hello World: 2'
[INFO] [1674528189.026742015] [listener]: I heard: [Hello World: 2]
[INFO] [1674528189.032512995] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528189.032815843] [Client]: Got result: [5]
[INFO] [1674528190.026455807] [talker]: Publishing: 'Hello World: 3'
[INFO] [1674528190.026795770] [listener]: I heard: [Hello World: 3]
[INFO] [1674528191.026457639] [talker]: Publishing: 'Hello World: 4'
[INFO] [1674528191.026801926] [listener]: I heard: [Hello World: 4]
[INFO] [1674528191.032377264] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528191.032604427] [Client]: Got result: [5]
[INFO] [1674528192.026428269] [talker]: Publishing: 'Hello World: 5'
[INFO] [1674528192.026537974] [listener]: I heard: [Hello World: 5]
[INFO] [1674528193.026437034] [talker]: Publishing: 'Hello World: 6'
[INFO] [1674528193.026767708] [listener]: I heard: [Hello World: 6]
[INFO] [1674528193.032377748] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528193.032603036] [Client]: Got result: [5]
#...

:warning:

Note that manually-composed components will not be reflected in the ros2 component list command line tool output.

DlOpen Composition

When executed correctly, strings should be printed to terminal similar to what is shown below:

INFO] [1674529118.496557668] [dlopen_composition]: Load library /opt/ros/rolling/lib/libtalker_component.so
[INFO] [1674529118.496774575] [dlopen_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Talker>
[INFO] [1674529118.503388909] [dlopen_composition]: Load library /opt/ros/rolling/lib/liblistener_component.so
[INFO] [1674529118.503739855] [dlopen_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Listener>
[INFO] [1674529119.503505873] [talker]: Publishing: 'Hello World: 1'
[INFO] [1674529119.503770137] [listener]: I heard: [Hello World: 1]
[INFO] [1674529120.503572362] [talker]: Publishing: 'Hello World: 2'
[INFO] [1674529120.503888374] [listener]: I heard: [Hello World: 2]
[INFO] [1674529121.503503459] [talker]: Publishing: 'Hello World: 3'
[INFO] [1674529121.503628269] [listener]: I heard: [Hello World: 3]
[INFO] [1674529122.503557862] [talker]: Publishing: 'Hello World: 4'
[INFO] [1674529122.503894772] [listener]: I heard: [Hello World: 4]
[INFO] [1674529123.503574524] [talker]: Publishing: 'Hello World: 5'
[INFO] [1674529123.503884894] [listener]: I heard: [Hello World: 5]
#...

:warning:

Note that dlopen-composed components will not be reflected in the ros2 component list command line tool output.

Linktime Composition

When executed correctly, strings should be printed to terminal similar to what is shown below:

[INFO] [1674528568.091949637] [linktime_composition]: Load library
[INFO] [1674528568.091995119] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Client>
[INFO] [1674528568.098833910] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Listener>
[INFO] [1674528568.100669644] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Server>
[INFO] [1674528568.102665704] [linktime_composition]: Instantiate class rclcpp_components::NodeFactoryTemplate<composition::Talker>
[INFO] [1674528569.104717098] [talker]: Publishing: 'Hello World: 1'
[INFO] [1674528569.105206993] [listener]: I heard: [Hello World: 1]
[INFO] [1674528570.099206827] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528570.099376432] [Client]: Got result: [5]
[INFO] [1674528570.104656875] [talker]: Publishing: 'Hello World: 2'
[INFO] [1674528570.105069514] [listener]: I heard: [Hello World: 2]
[INFO] [1674528571.104710545] [talker]: Publishing: 'Hello World: 3'
[INFO] [1674528571.105150094] [listener]: I heard: [Hello World: 3]
[INFO] [1674528572.099350955] [Server]: Incoming request: [a: 2, b: 3]
[INFO] [1674528572.099628903] [Client]: Got result: [5]
[INFO] [1674528572.104631322] [talker]: Publishing: 'Hello World: 4'
[INFO] [1674528572.104911174] [listener]: I heard: [Hello World: 4]
[INFO] [1674528573.104596009] [talker]: Publishing: 'Hello World: 5'
[INFO] [1674528573.104751214] [listener]: I heard: [Hello World: 5]
#...

:warning:

Note that linktime-composed components will not be reflected in the ros2 component list command line tool output.

Composition Using Launch Actions

When executed correctly, strings should be printed to terminal similar to what is shown below:

[INFO] [launch]: All log files can be found below /root/.ros/log/2024-05-04-23-37-06-363020-d8ff93e471d7-9387
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [9402]
[component_container-1] [INFO] [1714865826.695090046] [my_container]: Load Library: /opt/ros/rolling/lib/libtalker_component.so
[component_container-1] [INFO] [1714865826.696388047] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<composition::Talker>
[component_container-1] [INFO] [1714865826.696435882] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Talker>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/talker' in container '/my_container'
[component_container-1] [INFO] [1714865826.702958710] [my_container]: Load Library: /opt/ros/rolling/lib/liblistener_component.so
[component_container-1] [INFO] [1714865826.703401061] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<composition::Listener>
[component_container-1] [INFO] [1714865826.703414344] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<composition::Listener>
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/listener' in container '/my_container'
[component_container-1] [INFO] [1714865827.701941449] [talker]: Publishing: 'Hello World: 1'
[component_container-1] [INFO] [1714865827.702047599] [listener]: I heard: [Hello World: 1]
[component_container-1] [INFO] [1714865828.701984118] [talker]: Publishing: 'Hello World: 2'
[component_container-1] [INFO] [1714865828.702154523] [listener]: I heard: [Hello World: 2]
[component_container-1] [INFO] [1714865829.702004471] [talker]: Publishing: 'Hello World: 3'
[component_container-1] [INFO] [1714865829.702176059] [listener]: I heard: [Hello World: 3]
[component_container-1] [INFO] [1714865830.701876733] [talker]: Publishing: 'Hello World: 4'
[component_container-1] [INFO] [1714865830.701965546] [listener]: I heard: [Hello World: 4]
[component_container-1] [INFO] [1714865831.701885355] [talker]: Publishing: 'Hello World: 5'
[component_container-1] [INFO] [1714865831.701984823] [listener]: I heard: [Hello World: 5]

FAQ

Q: Why use node composition?

A: Node composition avoids the overhead of marshalling and unmarshaling messages by allowing nodes to be instantiated within the same process.

References

CHANGELOG

Changelog for package composition

0.35.0 (2024-10-03)

Fix typo in composition comment (#703)
Contributors: Christophe Bedard

0.34.2 (2024-07-29)

0.34.1 (2024-06-17)

Change references from "jazzy" to "rolling" on the rolling branch. (#687)
[composition] add launch action console output in the verify section (#677)
Contributors: Chris Lalancette, Mikael Arguedas

0.34.0 (2024-04-26)

0.33.2 (2024-03-28)

Update maintainer list in package.xml files (#665)
Contributors: Michael Jeronimo

0.33.1 (2024-02-07)

0.33.0 (2024-01-24)

Migrate std::bind calls to lambda expressions (#659)
Contributors: Felipe Gomes de Melo

0.32.1 (2023-12-26)

0.32.0 (2023-11-06)

0.31.1 (2023-09-07)

0.31.0 (2023-08-21)

0.30.1 (2023-07-11)

0.30.0 (2023-06-12)

0.29.0 (2023-06-07)

0.28.1 (2023-05-11)

0.28.0 (2023-04-27)

0.27.0 (2023-04-13)

Change all ROS2 -> ROS 2. (#610)
Contributors: Chris Lalancette

0.26.0 (2023-04-11)

update launch file name format to match documentation (#588)
Contributors: Patrick Wspanialy

0.25.0 (2023-03-01)

0.24.1 (2023-02-24)

0.24.0 (2023-02-14)

Added README.md for composition (#598)
Update the demos to C++17. (#594)
[rolling] Update maintainers - 2022-11-07 (#589)
Contributors: Audrow Nash, Chris Lalancette, Gary Bey

0.23.0 (2022-11-02)

fix memory leak (#585)
Contributors: Chen Lihui

0.22.0 (2022-09-13)

0.21.0 (2022-04-29)

0.20.1 (2022-04-08)

0.20.0 (2022-03-01)

0.19.0 (2022-01-14)

0.18.0 (2021-12-17)

Update maintainers to Audrow Nash and Michael Jeronimo (#543)
Additional fixes for documentation in demos. (#538)
Contributors: Audrow Nash, Chris Lalancette

0.17.0 (2021-10-18)

Fixing deprecated subscriber callback warnings (#532)
Contributors: Abrar Rahman Protyasha

0.16.0 (2021-08-11)

0.15.0 (2021-05-14)

0.14.2 (2021-04-26)

0.14.1 (2021-04-19)

0.14.0 (2021-04-06)

0.13.0 (2021-03-25)

0.12.1 (2021-03-18)

0.12.0 (2021-01-25)

Fix leak(#480) (#481)
Contributors: y-okumura-isp

0.11.0 (2020-12-10)

Update the package.xml files with the latest Open Robotics maintainers (#466)
Contributors: Michael Jeronimo

0.10.1 (2020-09-21)

0.10.0 (2020-06-17)

0.9.3 (2020-06-01)

0.9.2 (2020-05-26)

0.9.1 (2020-05-12)

0.9.0 (2020-04-30)

Replace deprecated launch_ros usage (#437)
Update launch_ros action usage (#431)
code style only: wrap after open parenthesis if not in one line (#429)
Contributors: Dirk Thomas, Jacob Perron

0.8.4 (2019-11-19)

0.8.3 (2019-11-11)

0.8.2 (2019-11-08)

0.8.1 (2019-10-23)

Replace ready_fn with ReadyToTest action (#404)
Contributors: Peter Baughman

0.8.0 (2019-09-26)

Add an demo component not inherited from rclcpp::Node (#393)
Contributors: Michael Carroll

0.7.6 (2019-05-30)

0.7.5 (2019-05-29)

0.7.4 (2019-05-20)

0.7.3 (2019-05-10)

0.7.2 (2019-05-08)

changes to avoid deprecated API's (#332)
Corrected publish calls with shared_ptr signature (#327)
Migrate launch tests to new launch_testing features & API (#318)
Contributors: Michel Hidalgo, William Woodall, ivanpauno

0.7.1 (2019-04-26)

Renamed launch file, updated to avoid redundant default actions, and set output to screen. (#326)
Updated constructor to const ref to NodeOptions. (#323)
Added basic composition launch demo. (#324)
Contributors: Michael Carroll, William Woodall

0.7.0 (2019-04-14)

Updated for new rclcpp_components package. (#319)
Added launch along with launch_testing as test dependencies. (#313)
Dropped legacy launch API usage. (#311)
Contributors: Michael Carroll, Michel Hidalgo

0.6.2 (2019-01-15)

0.6.1 (2018-12-13)

0.6.0 (2018-12-07)

Added semicolons to all RCLCPP and RCUTILS macros. (#278)
Contributors: Chris Lalancette

0.5.1 (2018-06-28)

0.5.0 (2018-06-27)

Updated launch files to account for the "old launch" getting renamespaced as launch -> launch.legacy. (#239)
Updated to avoid newly deprecated class loader headers. (#229)
Added a periodic log message while waiting for a service response.
Contributors: Dirk Thomas, Michael Carroll, Mikael Arguedas, William Woodall

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	example_interfaces
	rclcpp
	rclcpp_components
	rcutils
	std_msgs
	ament_cmake
	launch_ros
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	launch
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rmw_implementation_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
test_launch_ros
desktop

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `composition` at Robotics Stack Exchange

API Docs Browse Code

No version for distro noetic. Known supported distros are highlighted in the buttons above.

composition package from demos repo

composition demo_nodes_cpp demo_nodes_cpp_native demo_nodes_py dummy_map_server dummy_robot_bringup dummy_sensors image_tools intra_process_demo lifecycle logging_demo pendulum_control pendulum_msgs topic_monitor

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.4.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros2/demos.git
VCS Type	git
VCS Version	ardent
Last Updated	2017-12-09
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Examples for composing multiple nodes in a single process.

Additional Links

No additional links.

Maintainers

Dirk Thomas

Authors

No additional authors.

README

No README found. No README in repository either.

CHANGELOG

No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_index_cpp
	class_loader
	example_interfaces
	rclcpp
	rcutils
	rosidl_cmake
	std_msgs
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	launch
	launch_testing
	rmw_implementation_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
desktop

Launch files

No launch files found

Messages

No message files found.

Services

srv/LoadNode.srv

Plugins

No plugins found.

Recent questions tagged `composition` at Robotics Stack Exchange

API Docs Browse Code

composition package from demos repo

composition demo_nodes_cpp demo_nodes_cpp_native demo_nodes_py dummy_map_server dummy_robot_bringup dummy_sensors image_tools intra_process_demo lifecycle logging_demo pendulum_control pendulum_msgs topic_monitor

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.5.1
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros2/demos.git
VCS Type	git
VCS Version	bouncy
Last Updated	2018-10-30
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Examples for composing multiple nodes in a single process.

Additional Links

No additional links.

Maintainers

Dirk Thomas

Authors

No additional authors.

README

No README found. No README in repository either.

CHANGELOG

Changelog for package composition

0.5.1 (2018-06-28)

0.5.0 (2018-06-27)

Updated launch files to account for the "old launch" getting renamespaced as launch -> launch.legacy. (#239)
Updated to avoid newly deprecated class loader headers. (#229)
Added a periodic log message while waiting for a service response.
Contributors: Dirk Thomas, Michael Carroll, Mikael Arguedas, William Woodall

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_index_cpp
	class_loader
	example_interfaces
	rclcpp
	rcutils
	rosidl_cmake
	std_msgs
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	launch
	launch_testing
	rmw_implementation_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
desktop

Launch files

No launch files found

Messages

No message files found.

Services

srv/LoadNode.srv

Plugins

No plugins found.

Recent questions tagged `composition` at Robotics Stack Exchange

API Docs Browse Code

composition package from demos repo

composition demo_nodes_cpp demo_nodes_cpp_native demo_nodes_py dummy_map_server dummy_robot_bringup dummy_sensors image_tools intra_process_demo lifecycle logging_demo pendulum_control pendulum_msgs topic_monitor

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.6.2
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros2/demos.git
VCS Type	git
VCS Version	crystal
Last Updated	2019-01-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Examples for composing multiple nodes in a single process.

Additional Links

No additional links.

Maintainers

Dirk Thomas

Authors

No additional authors.

README

No README found. No README in repository either.

CHANGELOG

Changelog for package composition

0.6.2 (2019-01-15)

0.6.1 (2018-12-13)

0.6.0 (2018-12-07)

Added semicolons to all RCLCPP and RCUTILS macros. (#278)
Contributors: Chris Lalancette

0.5.1 (2018-06-28)

0.5.0 (2018-06-27)

Updated launch files to account for the "old launch" getting renamespaced as launch -> launch.legacy. (#239)
Updated to avoid newly deprecated class loader headers. (#229)
Added a periodic log message while waiting for a service response.
Contributors: Dirk Thomas, Michael Carroll, Mikael Arguedas, William Woodall

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	ament_index_cpp
	class_loader
	example_interfaces
	rclcpp
	rcutils
	rosidl_cmake
	std_msgs
	ament_cmake
	rosidl_default_generators
	rosidl_default_runtime
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	launch
	launch_testing
	rmw_implementation_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
desktop

Launch files

No launch files found

Messages

No message files found.

Services

srv/LoadNode.srv

Plugins

No plugins found.

Recent questions tagged `composition` at Robotics Stack Exchange

API Docs Browse Code

composition package from demos repo

action_tutorials_cpp action_tutorials_interfaces action_tutorials_py composition demo_nodes_cpp demo_nodes_cpp_native demo_nodes_py dummy_map_server dummy_robot_bringup dummy_sensors image_tools intra_process_demo lifecycle logging_demo pendulum_control pendulum_msgs quality_of_service_demo_cpp quality_of_service_demo_py topic_monitor

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.8.4
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros2/demos.git
VCS Type	git
VCS Version	eloquent
Last Updated	2020-11-04
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Examples for composing multiple nodes in a single process.

Additional Links

No additional links.

Maintainers

Mabel Zhang
Michael Jeronimo

Authors

Dirk Thomas

README

No README found. No README in repository either.

CHANGELOG

Changelog for package composition

0.8.4 (2019-11-19)

0.8.3 (2019-11-11)

0.8.2 (2019-11-08)

0.8.1 (2019-10-23)

Replace ready_fn with ReadyToTest action (#404)
Contributors: Peter Baughman

0.8.0 (2019-09-26)

Add an demo component not inherited from rclcpp::Node (#393)
Contributors: Michael Carroll

0.7.6 (2019-05-30)

0.7.5 (2019-05-29)

0.7.4 (2019-05-20)

0.7.3 (2019-05-10)

0.7.2 (2019-05-08)

changes to avoid deprecated API's (#332)
Corrected publish calls with shared_ptr signature (#327)
Migrate launch tests to new launch_testing features & API (#318)
Contributors: Michel Hidalgo, William Woodall, ivanpauno

0.7.1 (2019-04-26)

Renamed launch file, updated to avoid redundant default actions, and set output to screen. (#326)
Updated constructor to const ref to NodeOptions. (#323)
Added basic composition launch demo. (#324)
Contributors: Michael Carroll, William Woodall

0.7.0 (2019-04-14)

Updated for new rclcpp_components package. (#319)
Added launch along with launch_testing as test dependencies. (#313)
Dropped legacy launch API usage. (#311)
Contributors: Michael Carroll, Michel Hidalgo

0.6.2 (2019-01-15)

0.6.1 (2018-12-13)

0.6.0 (2018-12-07)

Added semicolons to all RCLCPP and RCUTILS macros. (#278)
Contributors: Chris Lalancette

0.5.1 (2018-06-28)

0.5.0 (2018-06-27)

Updated launch files to account for the "old launch" getting renamespaced as launch -> launch.legacy. (#239)
Updated to avoid newly deprecated class loader headers. (#229)
Added a periodic log message while waiting for a service response.
Contributors: Dirk Thomas, Michael Carroll, Mikael Arguedas, William Woodall

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	example_interfaces
	rclcpp
	rclcpp_components
	rcutils
	std_msgs
	ament_cmake
	launch_ros
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	launch
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rmw_implementation_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
desktop

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `composition` at Robotics Stack Exchange

API Docs Browse Code

composition package from demos repo

action_tutorials composition demo_nodes_cpp demo_nodes_cpp_native demo_nodes_py dummy_map_server dummy_robot_bringup dummy_sensors image_tools intra_process_demo lifecycle logging_demo pendulum_control pendulum_msgs quality_of_service_demo_cpp quality_of_service_demo_py topic_monitor

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.7.9
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros2/demos.git
VCS Type	git
VCS Version	dashing
Last Updated	2020-10-28
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Examples for composing multiple nodes in a single process.

Additional Links

No additional links.

Maintainers

Mabel Zhang
Michael Jeronimo

Authors

Dirk Thomas

README

No README found. No README in repository either.

CHANGELOG

Changelog for package composition

0.7.6 (2019-05-30)

0.7.5 (2019-05-29)

0.7.4 (2019-05-20)

0.7.3 (2019-05-10)

0.7.2 (2019-05-08)

changes to avoid deprecated API's (#332)
Corrected publish calls with shared_ptr signature (#327)
Migrate launch tests to new launch_testing features & API (#318)
Contributors: Michel Hidalgo, William Woodall, ivanpauno

0.7.1 (2019-04-26)

Renamed launch file, updated to avoid redundant default actions, and set output to screen. (#326)
Updated constructor to const ref to NodeOptions. (#323)
Added basic composition launch demo. (#324)
Contributors: Michael Carroll, William Woodall

0.7.0 (2019-04-14)

Updated for new rclcpp_components package. (#319)
Added launch along with launch_testing as test dependencies. (#313)
Dropped legacy launch API usage. (#311)
Contributors: Michael Carroll, Michel Hidalgo

0.6.2 (2019-01-15)

0.6.1 (2018-12-13)

0.6.0 (2018-12-07)

Added semicolons to all RCLCPP and RCUTILS macros. (#278)
Contributors: Chris Lalancette

0.5.1 (2018-06-28)

0.5.0 (2018-06-27)

Updated launch files to account for the "old launch" getting renamespaced as launch -> launch.legacy. (#239)
Updated to avoid newly deprecated class loader headers. (#229)
Added a periodic log message while waiting for a service response.
Contributors: Dirk Thomas, Michael Carroll, Mikael Arguedas, William Woodall

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	example_interfaces
	rclcpp
	rclcpp_components
	rcutils
	std_msgs
	ament_cmake
	launch_ros
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	launch
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rmw_implementation_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
desktop

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `composition` at Robotics Stack Exchange

API Docs Browse Code

composition package from demos repo

action_tutorials_cpp action_tutorials_interfaces action_tutorials_py composition demo_nodes_cpp demo_nodes_cpp_native demo_nodes_py dummy_map_server dummy_robot_bringup dummy_sensors image_tools intra_process_demo lifecycle logging_demo pendulum_control pendulum_msgs quality_of_service_demo_cpp quality_of_service_demo_py topic_monitor topic_statistics_demo

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.14.4
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros2/demos.git
VCS Type	git
VCS Version	galactic
Last Updated	2022-12-07
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Examples for composing multiple nodes in a single process.

Additional Links

No additional links.

Maintainers

Mabel Zhang
Michael Jeronimo

Authors

Dirk Thomas

README

No README found. No README in repository either.

CHANGELOG

Changelog for package composition

0.14.4 (2022-12-06)

0.14.3 (2021-05-10)

0.14.2 (2021-04-26)

0.14.1 (2021-04-19)

0.14.0 (2021-04-06)

0.13.0 (2021-03-25)

0.12.1 (2021-03-18)

0.12.0 (2021-01-25)

Fix leak(#480) (#481)
Contributors: y-okumura-isp

0.11.0 (2020-12-10)

Update the package.xml files with the latest Open Robotics maintainers (#466)
Contributors: Michael Jeronimo

0.10.1 (2020-09-21)

0.10.0 (2020-06-17)

0.9.3 (2020-06-01)

0.9.2 (2020-05-26)

0.9.1 (2020-05-12)

0.9.0 (2020-04-30)

Replace deprecated launch_ros usage (#437)
Update launch_ros action usage (#431)
code style only: wrap after open parenthesis if not in one line (#429)
Contributors: Dirk Thomas, Jacob Perron

0.8.4 (2019-11-19)

0.8.3 (2019-11-11)

0.8.2 (2019-11-08)

0.8.1 (2019-10-23)

Replace ready_fn with ReadyToTest action (#404)
Contributors: Peter Baughman

0.8.0 (2019-09-26)

Add an demo component not inherited from rclcpp::Node (#393)
Contributors: Michael Carroll

0.7.6 (2019-05-30)

0.7.5 (2019-05-29)

0.7.4 (2019-05-20)

0.7.3 (2019-05-10)

0.7.2 (2019-05-08)

changes to avoid deprecated API's (#332)
Corrected publish calls with shared_ptr signature (#327)
Migrate launch tests to new launch_testing features & API (#318)
Contributors: Michel Hidalgo, William Woodall, ivanpauno

0.7.1 (2019-04-26)

Renamed launch file, updated to avoid redundant default actions, and set output to screen. (#326)
Updated constructor to const ref to NodeOptions. (#323)
Added basic composition launch demo. (#324)
Contributors: Michael Carroll, William Woodall

0.7.0 (2019-04-14)

Updated for new rclcpp_components package. (#319)
Added launch along with launch_testing as test dependencies. (#313)
Dropped legacy launch API usage. (#311)
Contributors: Michael Carroll, Michel Hidalgo

0.6.2 (2019-01-15)

0.6.1 (2018-12-13)

0.6.0 (2018-12-07)

Added semicolons to all RCLCPP and RCUTILS macros. (#278)
Contributors: Chris Lalancette

0.5.1 (2018-06-28)

0.5.0 (2018-06-27)

Updated launch files to account for the "old launch" getting renamespaced as launch -> launch.legacy. (#239)
Updated to avoid newly deprecated class loader headers. (#229)
Added a periodic log message while waiting for a service response.
Contributors: Dirk Thomas, Michael Carroll, Mikael Arguedas, William Woodall

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	example_interfaces
	rclcpp
	rclcpp_components
	rcutils
	std_msgs
	ament_cmake
	launch_ros
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	launch
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rmw_implementation_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
test_launch_ros
desktop

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `composition` at Robotics Stack Exchange

API Docs Browse Code

composition package from demos repo

action_tutorials_cpp action_tutorials_interfaces action_tutorials_py composition demo_nodes_cpp demo_nodes_cpp_native demo_nodes_py dummy_map_server dummy_robot_bringup dummy_sensors image_tools intra_process_demo lifecycle logging_demo pendulum_control pendulum_msgs quality_of_service_demo_cpp quality_of_service_demo_py topic_monitor

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.9.4
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros2/demos.git
VCS Type	git
VCS Version	foxy
Last Updated	2022-07-25
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Package Description

Examples for composing multiple nodes in a single process.

Additional Links

No additional links.

Maintainers

Mabel Zhang
Michael Jeronimo

Authors

Dirk Thomas

README

No README found. No README in repository either.

CHANGELOG

Changelog for package composition

0.9.4 (2022-07-25)

Update maintainer list for Foxy (#471)
Contributors: Michael Jeronimo

0.9.3 (2020-06-01)

0.9.2 (2020-05-26)

0.9.1 (2020-05-12)

0.9.0 (2020-04-30)

Replace deprecated launch_ros usage (#437)
Update launch_ros action usage (#431)
code style only: wrap after open parenthesis if not in one line (#429)
Contributors: Dirk Thomas, Jacob Perron

0.8.4 (2019-11-19)

0.8.3 (2019-11-11)

0.8.2 (2019-11-08)

0.8.1 (2019-10-23)

Replace ready_fn with ReadyToTest action (#404)
Contributors: Peter Baughman

0.8.0 (2019-09-26)

Add an demo component not inherited from rclcpp::Node (#393)
Contributors: Michael Carroll

0.7.6 (2019-05-30)

0.7.5 (2019-05-29)

0.7.4 (2019-05-20)

0.7.3 (2019-05-10)

0.7.2 (2019-05-08)

changes to avoid deprecated API's (#332)
Corrected publish calls with shared_ptr signature (#327)
Migrate launch tests to new launch_testing features & API (#318)
Contributors: Michel Hidalgo, William Woodall, ivanpauno

0.7.1 (2019-04-26)

Renamed launch file, updated to avoid redundant default actions, and set output to screen. (#326)
Updated constructor to const ref to NodeOptions. (#323)
Added basic composition launch demo. (#324)
Contributors: Michael Carroll, William Woodall

0.7.0 (2019-04-14)

Updated for new rclcpp_components package. (#319)
Added launch along with launch_testing as test dependencies. (#313)
Dropped legacy launch API usage. (#311)
Contributors: Michael Carroll, Michel Hidalgo

0.6.2 (2019-01-15)

0.6.1 (2018-12-13)

0.6.0 (2018-12-07)

Added semicolons to all RCLCPP and RCUTILS macros. (#278)
Contributors: Chris Lalancette

0.5.1 (2018-06-28)

0.5.0 (2018-06-27)

Updated launch files to account for the "old launch" getting renamespaced as launch -> launch.legacy. (#239)
Updated to avoid newly deprecated class loader headers. (#229)
Added a periodic log message while waiting for a service response.
Contributors: Dirk Thomas, Michael Carroll, Mikael Arguedas, William Woodall

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps	Name
	example_interfaces
	rclcpp
	rclcpp_components
	rcutils
	std_msgs
	ament_cmake
	launch_ros
	ament_cmake_pytest
	ament_lint_auto
	ament_lint_common
	launch
	launch_testing
	launch_testing_ros
	launch_testing_ament_cmake
	rmw_implementation_cmake

System Dependencies

No direct system dependencies.

Dependant Packages

Name	Deps
depthai_ros_driver
test_launch_ros
desktop

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `composition` at Robotics Stack Exchange

API Docs Browse Code

No version for distro lunar. Known supported distros are highlighted in the buttons above.

No version for distro jade. Known supported distros are highlighted in the buttons above.

No version for distro indigo. Known supported distros are highlighted in the buttons above.

No version for distro hydro. Known supported distros are highlighted in the buttons above.

No version for distro kinetic. Known supported distros are highlighted in the buttons above.

No version for distro melodic. Known supported distros are highlighted in the buttons above.

composition package from demos repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

What Is This?

Build

Run

Manual Composition

DlOpen Composition

Linktime Composition

Composition Using Launch Actions

Verify

Manual Composition

DlOpen Composition

Linktime Composition

Composition Using Launch Actions

FAQ

References

Changelog for package composition

0.20.5 (2024-07-26)

0.20.4 (2024-05-15)

0.20.3 (2023-01-10)

0.20.2 (2022-05-10)

0.20.1 (2022-04-08)

0.20.0 (2022-03-01)

0.19.0 (2022-01-14)

0.18.0 (2021-12-17)

0.17.0 (2021-10-18)

0.16.0 (2021-08-11)

0.15.0 (2021-05-14)

0.14.2 (2021-04-26)

0.14.1 (2021-04-19)

0.14.0 (2021-04-06)

0.13.0 (2021-03-25)

0.12.1 (2021-03-18)

0.12.0 (2021-01-25)

0.11.0 (2020-12-10)

0.10.1 (2020-09-21)

0.10.0 (2020-06-17)

0.9.3 (2020-06-01)

0.9.2 (2020-05-26)

0.9.1 (2020-05-12)

0.9.0 (2020-04-30)

0.8.4 (2019-11-19)

0.8.3 (2019-11-11)

0.8.2 (2019-11-08)

0.8.1 (2019-10-23)

0.8.0 (2019-09-26)

0.7.6 (2019-05-30)

0.7.5 (2019-05-29)

0.7.4 (2019-05-20)

0.7.3 (2019-05-10)

0.7.2 (2019-05-08)

0.7.1 (2019-04-26)

0.7.0 (2019-04-14)

0.6.2 (2019-01-15)

0.6.1 (2018-12-13)

0.6.0 (2018-12-07)

0.5.1 (2018-06-28)

0.5.0 (2018-06-27)

Wiki Tutorials

Package Dependencies

System Dependencies

Dependant Packages

Launch files

Messages

Services

Plugins

Recent questions tagged composition at Robotics Stack Exchange

composition package from demos repo

Package Summary

Repository Summary

Package Description

Additional Links

Maintainers

Authors

What Is This?

Recent questions tagged `composition` at Robotics Stack Exchange

Recent questions tagged `composition` at Robotics Stack Exchange