rcl

Library to support implementation of language specific ROS Client Libraries.

Features are described in detail at http://docs.ros2.org

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.

Changelog for package rcl

10.0.0 (2024-10-03)

• Cleanup test_graph.cpp. (#1193)
• Expect a minimum of two nodes to be alive in test_graph (#1192)
• escalate RCL_RET_ACTION_xxx to 40XX. (#1191)
• Fix NULL allocator and racy condition. (#1188)
• Properly initialize the char array used in type hash calculations. (#1182)
• Increased timeouts (#1181)
• Skip some event tests on rmw_zenoh (#1180)
• doc: rcl_logging_spdlog is the default impl. (#1177)
• Update wait.h documentation for rcl_wait (#1176)
• Change the starting time of the goal expiration timeout (#1121)
• Contributors: Alejandro Hernández Cordero, Barry Xu, Chris Lalancette, Felix Penzlin, Tomoya Fujita, Yadu

9.4.1 (2024-07-29)

• Removed deprecated localhost_only (#1169)
• Fix typo in rcl_validate_enclave_name_with_size() doc (#1168)
• Removed deprecated rcl_init_timer() (#1167)

• Cleanup test_count_matched test to handle non-DDS RMWs (#1164) * Make check_state a class method in test_count_matched. This allows us to pass fewer parameters into each each invocation, and allows us to hide some more of the implementation inside the class. * Rename "ops" to "opts" in test_count_matched. It just better reflects what these structures are. * Cleanup pub/subs with a scope_exit in test_count_matched. This just ensures that they are always cleaned up, even if we exit early. Note that we specifically do not use it for test_count_matched_functions, since the cleanup is intentionally interleaved with other tests. * Check with the RMW layer to see whether QoS is compatible. Some RMWs may have different compatibility than DDS, so check with the RMW layer to see what we should expect for the number of publishers and subscriptions.

• Contributors: Alejandro Hernández Cordero, Chris Lalancette, Christophe Bedard

9.4.0 (2024-06-17)

• Add mechanism to disable workaround for dependency groups (#1151)
• remap_impl: minor typo (#1158)
• Fix up rmw_cyclonedds timestamp testing. (#1156)
• Add 'mimick' label to tests which use Mimick (#1152)
• Contributors: Chris Lalancette, G.A. vd. Hoorn, Scott K Logan

9.3.0 (2024-04-26)

• Fixed warnings - strict-prototypes (#1148)
• Contributors: Alejandro Hernández Cordero

9.2.1 (2024-04-16)

• chore: Minor style improvements (#1147) Co-authored-by: Janosch Machowinski <<J.Machowinski@cellumation.com>>
• improved rcl_wait in the area of timeout computation and spurious wakeups (#1146) Added special handling for timers with a clock that has time override enabled. For these timer we should not compute a timeout, as the waitset is waken up by the associated guard condition. Before this change, the waitset could wait up, because of an expected ready timer, that was acutally not ready, as the time update to the ROS_TIME had not yet arrived.
• Add tracepoint for publish_serialized_publish (#1136)
  • Add tracepoint for publish_serialized_publish

  * Add: tracepoint for rcl_take_serialized_message ---------

• Revert "improved rcl_wait in the area of timeout computation and spurious wakeups (#1135)" (#1142) This reverts commit 3c6c5dc47dac23d70722a60b2c0a387d2e71b71d.
• improved rcl_wait in the area of timeout computation and spurious wakeups (#1135)
  • feat: Allow usage of rcl_timer_clock with const rcl_timer_t*

  * fix: Fixed purious wake-ups on ROS_TIME timers with ROS_TIME enabled Added special handling for timers with a clock that has time override enabled. For theses timer we should not compute a timeout, as the waitset is waken up by the associated guard condition. Before this change, the waitset could wait up, because of an expected ready timer, that was acutally not ready, as the time update to the ROS_TIME had not yet arrived.

  • feat: Added rcl_timer_get_next_call_time

  * fix(rcl_wait): Improved timeout computation in case of many timers This commit changes the computation of the timer timeout, to be more precise, in the case, of many registered timers. ---------Co-authored-by: Janosch Machowinski <<j.machowinski@nospam.org>>

• Generate version header using ament_generate_version_header(..) (#1141)
• Contributors: Chris Lalancette, G.A. vd. Hoorn, h-suzuki-isp, jmachowinski

9.2.0 (2024-03-28)

• Add rcl_timer_call_with_info function that retrieves the expected and the actual timer trigger times (#1113) Co-authored-by: Alexis Tsogias <<a.tsogias@cellumation.com>> Co-authored-by: Michael Carroll <<carroll.michael@gmail.com>> Co-authored-by: Tomoya Fujita <<Tomoya.Fujita@sony.com>>

• document out parameters for rcl_get_node_names and rcl_get_node_names_with_enclaves (#1137) * document out params for rcl_get_node_names Co-authored-by: Chris Lalancette <<clalancette@gmail.com>>

• Cleanups for uncrustify 0.78. (#1134) Mostly this is expanding macros, as this is just easier to read anyway. But we also mark one section as INDENT-OFF.
• Re-order rcl_logging_interface include (#1133)
• Remove unnecessary macros. (#1132) These really don't add anything, and allows us to avoid some changes in macro formatting between Ubuntu 22.04 and Ubuntu 24.04.
• Update quality declaration documents (#1131)
• Contributors: Chris Lalancette, Christophe Bedard, Felix Penzlin, jmachowinski

9.1.0 (2024-01-24)

• add unit tests for --log-file-name argument. (#1130)
• support [--log-file-name]{.title-ref} to ros args. (#1127)
• Contributors: Tomoya Fujita

9.0.0 (2023-12-26)

• Make sure to disable a test_node test on RHEL. (#1124)
• remove static function rcl_ret_from_rcutils_ret(). (#1122)
• Remove AMENT_DEPENDENCIES from rcl_add_custom_gtest. (#1119)
• Remove unncecessary dependencies in tests (#1114)
• a rosout publisher of a node might not exist (#1115)
• Contributors: Chen Lihui, Chris Lalancette, Christopher Wecht, Tomoya Fujita

8.0.0 (2023-11-06)

• Set disable loan to on by default. (#1110)
• Return service from node_type_description_service_init (#1112)
• next_call_time will always be greater than now after calling rcl_timer_call. (#1089)
• Contributors: Chris Lalancette, Michael Carroll, Thiemo Kohrt

7.3.0 (2023-10-09)

• Add rcl count clients, servicec & tests (#1011)
• Improve the reliability of test_get_type_description_service. (#1107)
• Contributors: Chris Lalancette, Minju, Lee

7.2.0 (2023-10-04)

• Remove most remaining uses of ament_target_dependencies. (#1102)
• Just remove rcpputils::fs dependency (#1105)
• Decouple rosout publisher init from node init. (#1065)
• Cleanup the error handling in rcl_node_init. (#1099)
• Fix a clang warning for suspicious string concatentation. (#1101)
• add the link to the topic name rules. (#1100)
• Contributors: Chris Lalancette, Kenta Yonekura, Tomoya Fujita

7.1.1 (2023-09-07)

• Cut down the amount of time for test_logging_rosout. (#1098)
• Simplify local_namespace handling in rcl_node_init. (#1097)
• Reduce the number of tests we run (#1096)
• Adding duplicate node information (#1088)
• Revamp the test_get_type_description_service. (#1095)
• Cleanup network flow endpoints test. (#1094)
• Reduce the failure timeout time for namespaces. (#1093)
• Shorten wait time for a subscription not being ready. (#1092)
• Contributors: Chris Lalancette, Lucas Wendland

7.1.0 (2023-08-21)

• rcl_send_response returns RCL_RET_TIMEOUT. (#1048)
• Move test_namespace into the correct directory. (#1087)
• Reset errors in tests to reduce warnings (#1085)
• Cleanup error reporting in the type hash code. (#1084)
• Instrument loaned message publication code path (#1083)
• Contributors: Chris Lalancette, Christophe Bedard, Tomoya Fujita

7.0.0 (2023-07-11)

• Add [~/get_type_description]{.title-ref} service (rep2011) (#1052)
• Modifies timers API to select autostart state (#1004)
• test publisher/subscription with the c/cpp typesupport for test_msgs::msg::array (#1074)
• validation result should be used to print the error message. (#1077)
• Contributors: Chen Lihui, Eloy Briceno, Hans-Joachim Krauch, Tomoya Fujita

6.3.0 (2023-06-12)

• improve error msg of [rcl_expand_topic_name]{.title-ref} (#1076)
• Use TRACETOOLS_ prefix for tracepoint-related macros (#1058)
• Contributors: Christophe Bedard, Eric W

6.2.0 (2023-06-07)

• fix comment (#1073)
• localhost_only prevails auto discovery options if enabled. (#1069)
• Avoid dynamic allocation of message before sending over rosout (#1067)
• Contributors: Chen Lihui, Christopher Wecht, Tomoya Fujita

6.1.1 (2023-05-11)

• clarify [rcl_node_init]{.title-ref} return code (#1066)
• Contributors: Eric W

6.1.0 (2023-04-28)

• Fix a format-security warning when building with clang. (#1064)
• Contributors: Chris Lalancette

6.0.1 (2023-04-18)

• fix flaky test (#1063)
• Contributors: Chen Lihui

6.0.0 (2023-04-12)

• Add enable_type_description_service node option - API only (#1060)
• Dynamic Subscription (BONUS: Allocators): rcl (#1057)
• Runtime Interface Reflection: rcl (#1025)
• [rcl] Improve handling of dynamic discovery (#1023)
• Use get_type_hash_func for typesupports (#1055)
• publish for rosout topic multiple times to avoid flaky test (#1054)
• Switch to target_link_libraries in rcl. (#1051)
• Calculate type hash from TypeDescription (rep2011) (#1027)
• Implement matched event (#1033)
• use user-defined allocator to configure logging. (#1047)
• user defined allocator should be used for rosout publisher. (#1044)
• Add in inconsistent_topic implementation. (#1024)
• doc update, ROS message accessibility depends on RMW implementation. (#1043)
• Fix some warnings from clang. (#1042)
• avoid unnecessary copy for rcutils_char_array_vsprintf. (#1035)
• Contributors: Barry Xu, Chen Lihui, Chris Lalancette, Emerson Knapp, Geoffrey Biggs, Tomoya Fujita, methylDragon

5.9.0 (2023-03-01)

• Service introspection (#997)
• Cache disable flag to avoid reading environmental variable. (#1029)
• Contributors: Brian, Tomoya Fujita

5.8.0 (2023-02-23)

• use parent logger (#921)
• Contributors: Chen Lihui

5.7.0 (2023-02-13)

• Add timer on reset callback (#995)
• Update rcl to C++17. (#1031)
• Make sure to check the return value of rcl_clock_init in tests. (#1030)
• Contributors: Chris Lalancette, mauropasse

5.6.0 (2022-12-05)

• Implement rcl_clock_time_started (#1021)
• Make sure to reset errors more places in the tests. (#1020) This makes it so we don't get as many warnings when the tests are running.
• [rolling] Update maintainers - 2022-11-07 (#1017)
• Contributors: Audrow Nash, Chris Lalancette, methylDragon

5.5.0 (2022-11-02)

• Small cleanups to rcl (#1013)
• use int64_t for period. (#1010)
• Contributors: Chris Lalancette, Tomoya Fujita

5.4.1 (2022-09-13)

• fixed rcl_wait return error when timer cancelled (#1003)
• remove duplicate packages in find_package and reorder (#994)
• Contributors: Chen Lihui, 정찬희

5.4.0 (2022-04-29)

5.3.1 (2022-04-26)

• Fix buffer overflow in argument parsing caused by lexer returning length beyond length of string (#979)
• Fix leak in test_subscription_content_filter_options.cpp (#978)
• Contributors: Shane Loretz

5.3.0 (2022-04-05)

• add content-filtered-topic interfaces (#894)
• Contributors: Chen Lihui

5.2.1 (2022-03-31)

• Add additional null check for timer argument (#973)
• Contributors: NoyZuberi

5.2.0 (2022-03-24)

• Allow forward slashes within a parameter name rule in argument parsing (#860)
• Suppress false positive from clang-tidy (#951)
• Fix missing terminating 0 in rcl_context_impl_t.argv (#969)
• test_publisher_wait_all_ack depends on rcpputils (#968)
• Micro-optimizations in rcl (#965)
• If timer canceled, rcl_timer_get_time_until_next_call returns TIMER_CANCELED (#963)
• Contributors: Chris Lalancette, Haowei Wen, Ivan Santiago Paunovic, Shane Loretz, William Woodall, mauropasse

5.1.0 (2022-03-01)

• Add Events Executor (#839)
• Remove fastrtps customization on test_events (#960)
• Add client/service QoS getters (#941)
• introduce ROS_DISABLE_LOAN_MSG to disable can_loan_messages. (#949)
• Install includes it include/${PROJECT_NAME} (#959)
• Contributors: Miguel Company, Shane Loretz, Tomoya Fujita, iRobot ROS, mauropasse

5.0.1 (2022-01-14)

5.0.0 (2021-12-14)

• Make rcl_difference_times args const (#955)
• Update inject_on_return test skipping logic (#953)
• Fix jump callbacks being called when zero time jump thresholds used (#948)
• Only change the default logger level if default_logger_level is set (#943)
• Add Library for wait_for_entity_helpers to deduplicate compilation (#942)
• Increase Windows timeout 15 -> 25 ms (#940)
• test should check specified number of entities. (#935)
• Contributors: Jafar Abdi, Scott K Logan, Shane Loretz, Tomoya Fujita

4.0.0 (2021-09-16)

• Fix up documentation build for rcl when using rosdoc2 (#932)
• Include rmw_event_t instead of forward declaring it (#933)
• Contributors: Michel Hidalgo

3.2.0 (2021-09-02)

• Add rcl_publisher_wait_for_all_acked support. (#913)
• Add tracing instrumentation for rcl_take. (#930)
• Fix #include in C++ typesupport example in rcl_subscription_init docblock. (#927)
• Update includes after rcutils/get_env.h deprecation. (#917)
• Use proper rcl_logging return value type and compare to constant. (#916)
• Contributors: Barry Xu, Christophe Bedard

3.1.2 (2021-04-26)

• Fix up test_network_flow_endpoints. (#912)
• Contributors: Chris Lalancette

3.1.1 (2021-04-12)

• Make test_two_timers_ready_before_timeout less flaky (#911)
• Add publishing instrumentation (#905)
• Contributors: Christophe Bedard, Ivan Santiago Paunovic

3.1.0 (2021-04-06)

• Unique network flows (#880)
• updating quality declaration links (re: ros2/docs.ros2.org#52) (#909)
• Add functions for waiting for publishers and subscribers (#907)
• Revert "Mark cyclonedds test_service test as flakey (#648)" (#904)
• Guard against returning NULL or empty node names (#570)
• Contributors: Ananya Muddukrishna, Jacob Perron, Michel Hidalgo, shonigmann

3.0.1 (2021-03-25)

• Remove exceptions for rmw_connext_cpp tests. (#903)
• Contributors: Chris Lalancette

3.0.0 (2021-03-23)

2.6.0 (2021-03-18)

• Add support for rmw_connextdds (#895)
• Put an argument list of 'void' where no arguments are expected. (#899)
• Cleanup documentation for doxygen. (#896)
• Contributors: Andrea Sorbini, Chris Lalancette

2.5.2 (2021-02-05)

• Reference test resources directly from source tree (#554)
• Contributors: Scott K Logan

2.5.1 (2021-01-25)

• Re-add "Improve trigger test for graph guard condition (#811)" (#884)
• Revert "Improve trigger test for graph guard condition (#811)" (#883)
• Move the guard condition cleanup after removing callback. (#877)
• Make test_subscription_nominal_string_sequence more reliable (#881)
• Improve trigger test for graph guard condition (#811)
• Add NULL check in remap.c (#879)
• Contributors: Barry Xu, Chris Lalancette, Ivan Santiago Paunovic, Nikolai Morin

2.5.0 (2020-12-08)

• Add const to constant rcl_context functions (#872)
• Fix another failing test on CentOS 7 (#863)
• Update QDs to QL 1 (#866)
• Address clang static analysis issues (#865)
• Fix flaky test_info_by_topic (#859)
• Update QL (#858)
• Refactor for removing unnecessary source code (#857)
• Clarify storing of current_time (#850)
• Make tests in test_graph.cpp more reliable (#854)
• Fix for external log segfault after SIGINT (#844)
• Update tracetools QL and add to rcl_lifecycle's QD (#845)
• Make test logging rosout more reliable (#846)
• Return OK when finalizing zero-initialized contexts (#842)
• Zero initialize events an size_of_events members of rcl_wait_set_t (#841)
• Update deprecated gtest macros (#818)
• Contributors: Alejandro Hernández Cordero, Audrow Nash, Chen Lihui, Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, Jacob Perron, Stephen Brawner, Thijs Raymakers, tomoya

2.4.0 (2020-10-19)

• Make sure to check the return value of rcl APIs. (#838)
• Add convenient node method to get a final topic/service name (#835)
• Contributors: Chris Lalancette, Ivan Santiago Paunovic

2.3.0 (2020-10-19)

• Remove redundant error formatting (#834)
• Fix memory leak in rcl_subscription_init()/rcl_publisher_init() (#794)
• Update maintainers (#825)
• Add a semicolon to RCUTILS_LOGGING_AUTOINIT. (#816)
• Improve error messages in rcl_lifecycle (#742)
• Fix memory leak on serialized message in test_publisher/subscription.cpp (#801)
• Fix memory leak because of mock test (#800)
• Spelling correction (#798)
• Fix that not to deallocate event impl in some failure case (#790)
• calling fini functions to avoid memory leak (#791)
• Contributors: Barry Xu, Chen Lihui, Chris Lalancette, Geoffrey Biggs, Ivan Santiago Paunovic, Jacob Perron, Lei Liu

2.2.0 (2020-09-02)

• Bump rcl arguments' API test coverage (#777)
• Fix rcl arguments' API memory leaks and bugs (#778)
• Add coverage tests wait module (#769)
• Fix wait set allocation cleanup (#770)
• Improve test coverage in rcl (#764)
• Check if rcutils_strdup() outcome immediately (#768)
• Cleanup rcl_get_secure_root() implementation (#762)
• Add fault injection macros to rcl functions (#727)
• Yield rcl_context_fini() error codes (#763)
• Do not invalidate context before successful shutdown (#761)
• Zero initialize guard condition on failed init (#760)
• Adding tests to arguments API (#752)
• Extend rcl_expand_topic_name() API test coverage (#758)
• Add coverage tests 94% to service API (#756)
• Clean up rcl_expand_topic_name() implementation (#757)
• Complete rcl enclave validation API coverage (#751)
• Cope with base function restrictions in mocks (#753)
• Fix allocation when copying arguments (#748)
• Complete rcl package's logging API test coverage (#747)
• Improve coverage to 95% in domain id, init option, rmw implementation id and log level modules (#744)
• Fix rcl package's logging API error code documentation and handling (#746)
• Fix bug error handling in get_param_files (#743)
• Complete subscription API test coverage (#734)
• increase timeouts in test_services fixtures for Connext (#745)
• Tweaks to client.c and subscription.c for cleaner init/fini (#728)
• Improve error checking and handling in subscription APIs (#739)
• Add deallocate calls to free strdup allocated memory (#737)
• Add missing calls to rcl_convert_rmw_ret_to_rcl_ret (#738)
• Add mock tests, publisher 95% coverage (#732)
• Restore env variables set in the test_failing_configuration. (#733)
• Expose qos setting for /rosout (#722)
• Reformat rmw_impl_id_check to call a testable function (#725)
• Add extra check for invalid event implementation (#726)
• Consolidate macro duplication (#653)
• Contributors: Ada-King, Dan Rose, Dirk Thomas, Jorge Perez, Michel Hidalgo, brawner, tomoya

2.1.0 (2020-07-22)

• Add test for subscription message lost event (#705)
• Add function rcl_event_is_valid (#720)
• Move actual domain id from node to context (#718)
• Removed doxygen warnings (#712)
• Remove some dead code.
• Make sure to call rcl_arguments_fini at the end of the test.
• Add remap needed null check (#711)
• Make public init/fini rosout publisher (#704)
• Move rcl_remap_copy to public header (#709)
• Contributors: Alejandro Hernández Cordero, Chris Lalancette, Ivan Santiago Paunovic, Jorge Perez

2.0.0 (2020-07-09)

• Implement a generic way to change logging levels (#664)
• Remove domain_id and localhost_only from node_options (#708)
• Add coverage tests (#703)
• Add bad arguments tests for coverage (#698)
• Remove unused internal prototypes (#699)
• Update quality declaration and coverage (#674)
• Add setter and getter for domain_id in rcl_init_options_t (#678)
• Remove unused pytest dependency from rcl. (#695)
• Fix link to latest API docs (#692)
• Keep domain id if ROS_DOMAIN_ID is invalid. (#689)
• Remove unused check context.c (#691)
• Add check rcl_node_options_copy invalid out (#671)
• Update tracetools' QL to 2 in rcl's QD (#690)
• Improve subscription coverage (#681)
• Improve rcl timer test coverage (#680)
• Improve wait sets test coverage (#683)
• Contributors: Alejandro Hernández Cordero, Chen Lihui, Chris Lalancette, Christophe Bedard, Ivan Santiago Paunovic, Jorge Perez, Michel Hidalgo, tomoya

1.2.0 (2020-06-18)

• Improve rcl init test coverage. (#684)
• Improve clock test coverage. (#685)
• Add message lost event (#673)
• Minor fixes to rcl clock implementation. (#688)
• Improve enclave validation test coverage. (#682)
• Use RCL_RET_* codes only. (#686)
• Fixed doxygen warnings (#677)
• Add tests for rcl package (#668)
• Remove logging_external_interface.h, provided by rcl_logging_interface package now (#676)
• Print RCL_LOCALHOST_ENV_VAR if error happens via rcutils_get_env. (#672)
• Contributors: Alejandro Hernández Cordero, Chris Lalancette, Ivan Santiago Paunovic, Jorge Perez, Michel Hidalgo, tomoya

1.1.5 (2020-06-03)

• Fix conversions between rmw_localhost_only_t and bool (#670)
• Contributors: Jorge Perez

1.1.4 (2020-06-02)

• Ensure rcl_publisher_init() fails safely (#667)
• Contributors: Michel Hidalgo

1.1.3 (2020-06-01)

• Add Security Vulnerability Policy pointing to REP-2006 (#661)
• Add tests to publisher and init modules of rcl (#657)
• Contributors: Chris Lalancette, Jorge Perez

1.1.2 (2020-05-28)

• Improve docblocks (#659)
• Contributors: Alejandro Hernández Cordero

1.1.1 (2020-05-26)

1.1.0 (2020-05-22)

• Expose rcl default logging output handler (#660)
• Remove deprecated functions (#658)
• Warn about unused return value for set_logger_level (#652)
• Mark cyclonedds test_service test as flakey (#648)
• Convert sleep_for into appropriate logic in tests(#631)
• Reduce timeouts in tests(#613)
• Add tests for time.c and timer.c (#599)
• Update Quality Declaration for 1.0 (#647)
• Contributors: Barry Xu, Dirk Thomas, Ivan Santiago Paunovic, Jorge Perez, Tully Foote, brawner

1.0.0 (2020-05-12)

• Remove MANUAL_BY_NODE liveliness API (#645)
• Make test_two_timers* more reliable (#640)
• Contributors: Ivan Santiago Paunovic

0.9.1 (2020-05-08)

• Included features (#644)
• Current state Quality Declaration (#639)
• Initialize service timestamps to 0 and test. (#642)
• Contributors: Alejandro Hernández Cordero, Ingo Lütkebohle, Jorge Perez

0.9.0 (2020-04-29)

• Fix std::string construction in test (#636)
• Add basic functionality tests for validate_enclave_name and subscription (#624)
• Save allocator for RCL_CLOCK_UNINITIALIZED clock (#623)
• Implement service info structure with timestamps (#627)
• Add support for taking a sequence of messages (#614)
• Message info with timestamps support in rcl (#619)
• Don't call rcl_logging_configure/rcl_logging_fini in rcl_init/rcl_shutdown (#579)
• Export targets in a addition to include directories / libraries (#629)
• Document rcl_pub/etc_fini() must come before rcl_node_fini() (#625)
• Update security environment variables (#617)
• Add visibility to rcl_timer_get_allocator (#610)
• Fix test_publisher memory leaks reported by asan (#567)
• security-context -> enclave (#612)
• Rename rosidl_generator_c namespace to rosidl_runtime_c (#616)
• Rename rosidl_generator_cpp namespace to rosidl_runtime_cpp (#615)
• Fix security directory lookup for '/' security contexts (#609)
• Changed rosidl_generator_c/cpp to rosidl_runtime_c/cpp (#588)
• Remove deprecated CLI rules (#603)
• Use keystore root as security root directory, and not contexts folder (#607)
• Remove tinydir_vendor dependency (#608)
• Add missing allocator check for NULL (#606)
• Change naming style for private functions (#597)
• Switch to one Participant per Context (#515)
• Support for ON_REQUESTED_INCOMPATIBLE_QOS and ON_OFFERED_INCOMPATIBLE_QOS events (#535)
• Small typo fix (#604)
• Update docstring with new possible return code (#600)
• Add missing node destruction (#601)
• Test that nodes are returned with correct multiplicity (#598)
• Trigger guard condition when timer is reset (#589)
• Clock API improvements (#580)
• Fix memory leak in rcl_arguments (#564)
• Don't check history depth if RMW_QOS_POLICY_HISTORY_KEEP_ALL (#593)
• Fix alloc-dealloc-mismatch(new->free) in test_info_by_topic (#469) (#569)
• Use 10sec lifespan in rosout publisher qos (#587)
• Document clock types (#578)
• Make rosout publisher transient local with a depth of 1000 (#582)
• Enable TestInfoByTopicFixture unit tests for other rmw_implementations (#583)
• Fix memory leak in test_subscription_nominal (#469) (#562)
• Update rmw_topic_endpoint_info_array usage (#576)
• Add rcl versions of rmw_topic_endpoint_info* types (#558)
• Enable test for rcl_get_subscriptions_info_by_topic / rcl_get_publishers_info_by_topic for Cyclone (#572)
• Fixed missing initialization and fixed qos checking in test (#571)
• Fix test_count_matched memory leaks reported by asan #567 (#568)
• Code style only: wrap after open parenthesis if not in one line (#565)
• Fix return type of rcl_publisher_get_subscription_count() (#559)
• Fix doc strings (#557)
• Implement functions to get publisher and subcription informations like QoS policies from topic name (#511)
• Use absolute topic name for rosout (#549)
• Set allocator before goto fail (#546)
• Add public facing API for validating rcl_wait_set_t (#538)
• Add flag to enable/disable rosout logging in each node individually. (#532)
• Treat __name the same as __node (#494)
• Contributors: Alejandro Hernández Cordero, Barry Xu, Chris Lalancette, Dan Rose, Dennis Potman, Dirk Thomas, DongheeYe, Ingo Lütkebohle, Ivan Santiago Paunovic, Jacob Perron, Jaison Titus, Jorge Perez, Miaofei Mei, Michael Carroll, Michel Hidalgo, Mikael Arguedas, P. J. Reed, Ruffin, Shane Loretz, William Woodall, y-okumura-isp

0.8.3 (2019-11-08)

• Support CLI parameter overrides using dots instead of slashes. (#530) Signed-off-by: Michel Hidalgo <<michel@ekumenlabs.com>>
• Contributors: Michel Hidalgo

0.8.2 (2019-10-23)

• Remove the prototype from rcl_impl_getenv. (#525)
• Use return_loaned_message_from (#523)
• Avoid ready_fn and self.proc_info (#522)
• Add localhost option to node creation (#520)
• Add initial instrumentation (#473)
• Zero copy api (#506)
• Don't create rosout publisher instance unless required. (#514)
• Handle zero non-ROS specific args properly in rcl_remove_ros_arguments (#518)
• Update rcl_node_init docstring (#517)
• Remove vestigial references to rcl_ok() (#516)
• Add mechanism to pass rmw impl specific payloads during pub/sub creation (#513)
• Contributors: Brian Marchi, Chris Lalancette, Ingo Lütkebohle, Jacob Perron, Karsten Knese, Michel Hidalgo, Peter Baughman, William Woodall, tomoya

0.8.1 (2019-10-08)

• Switch the default logging implementation to spdlog.
• Contributors: Chris Lalancette

0.8.0 (2019-09-26)

• Delete rcl_impl_getenv, replaced by rcutils_get_env (#502)
• Parse CLI parameters and YAML files (#508)
• Add specific return code for non existent node (#492)
• Add node name and namespace validation to graph functions (#499)
• Bring back deprecated CLI arguments (#496)
• Polish rcl arguments implementation (#497)
• Uncoment some test_graph test cases after fix in rmw_fastrtps (ros2/rmw_fastrtps#316) (#498)
• Promote special CLI rules to flags (#495)
• Fail fast on invalid ROS arguments (#493)
• Enforce -r/--remap flags. (#491)
• Support parameter overrides and remap rules flags on command line (#483)
• Allow get_node_names to return result in any order (#488)
• rosout init and fini marked as RCL_PUBLIC (#479)
• included header in logging_rosout.c (#478)
• Migrate to '--ros-args ... [--]'-based ROS args extraction (#477)
• Improve security error messages (#480)
• Add function for getting clients by node (#459)
• Remove special case check for manual_by_node for rmw_fastrtps (#467)
• Fix memory leak of 56 bytes in test_graph
• Change tests to try MANUAL_BY_TOPIC liveliness for FastRTPS (#465)
• Implement get_actual_qos() for subscriptions (#455)
• Log warning when remapping to an invalid node name (#454)
• Use size_t printf format for size_t variable (#453)
• Contributors: Alberto Soragna, Emerson Knapp, Jacob Perron, M. M, Michel Hidalgo, Mikael Arguedas, Víctor Mayoral Vilches, eboasson, ivanpauno

0.7.4 (2019-05-29)

• Fix tests now that FastRTPS correctly reports that liveliness is not supported (#452)
• In test_events, wait for discovery to be complete bidirectionally before moving on (#451)
• fix leak in test_service (#447)
• fix leak in test_guard_condition (#446)
• fix leak in test_get_actual_qos (#445)
• fix leak in test_expand_topic_name (#444)
• Contributors: Abby Xu, Emerson Knapp

0.7.3 (2019-05-20)

• Fixed memory leak in test_client (#443)
• Fixed memory leaks in test_wait.cpp (#439)
• Fixed memory leak in test_context (#441)
• Fixed memory leak in test_init (#440)
• Enabled rcl test_events unit tests on macOS (#433)
• Enabled deadline tests for FastRTPS (#438)
• Corrected use of launch_testing.assert.assertExitCodes (#437)
• Reverted "Changes the default 3rd party logger from rcl_logging_noop to… (#436)
• Fixed memory leaks in test_security_directory (#420)
• Fixed a memory leak in rcl context fini (#434)
• Contributors: Abby Xu, Cameron Evans, Chris Lalancette, Dirk Thomas, M. M, ivanpauno

0.7.2 (2019-05-08)

• Changes the default 3rd party logger from rcl_logging_noop to rcl_logging_log4cxx (#425)
• fix leak in node.c (#424)
• Add new RCL_RET_UNSUPPORTED (#432)
• New interfaces and their implementations for QoS features (#408)
• Add an allocator to the external logging initialization. (#430)
• fix buffer overflow in test_security_dir (#423)
• Rmw preallocate (#428)
• Use new test interface definitions (#427)
• Migrate launch tests to new launch_testing features & API (#405)
• Fix argument passed to logging macros (#421)
• Make sure to initialize the bool field. (#426)
• Contributors: Abby Xu, Chris Lalancette, Emerson Knapp, Jacob Perron, M. M, Michael Carroll, Michel Hidalgo, Nick Burek, Thomas Moulard

0.7.1 (2019-04-29)

• Replaced reinterperet_cast with static_cast. (#410)
• Fixed leak in __wait_set_clean_up. (#418)
• Updated initialization of rmw_qos_profile_t struct instances. (#416)
• Contributors: Dirk Thomas, M. M, jhdcs

0.7.0 (2019-04-14)

• Added more test cases for graph API + fix bug. (#404)
• Fixed missing include. (#413)
• Updated to use pedantic. (#412)
• Added function to get publisher actual qos settings. (#406)
• Refactored graph API docs. (#401)
• Updated to use ament_target_dependencies where possible. (#400)
• Fixed regression around fully qualified node name. (#402)
• Added function rcl_names_and_types_init. (#403)
• Fixed uninitialize sequence number of client. (#395)
• Added launch along with launch_testing as test dependencies. (#393)
• Set symbol visibility to hidden for rcl. (#391)
• Updated to split test_token to avoid compiler note. (#392)
• Dropped legacy launch API usage. (#387)
• Improved security directory lookup. (#332)
• Enforce non-null argv values on rcl_init(). (#388)
• Removed incorrect argument documentation. (#361)
• Changed error to warning for multiple loggers. (#384)
• Added rcl_node_get_fully_qualified_name. (#255)
• Updated rcl_remap_t to use the PIMPL pattern. (#377)
• Fixed documentation typo. (#376)
• Removed test circumvention now that a bug is fixed in rmw_opensplice. (#368)
• Updated to pass context to wait set, and fini rmw context. (#373)
• Updated to publish logs to Rosout. (#350)
• Contributors: AAlon, Dirk Thomas, Jacob Perron, M. M, Michael Carroll, Michel Hidalgo, Mikael Arguedas, Nick Burek, RARvolt, Ross Desmond, Sachin Suresh Bhat, Shane Loretz, William Woodall, ivanpauno

0.6.4 (2019-01-11)

• Added method for accessing rmw_context from rcl_context (#372)
• Added guard against bad allocation when calling rcl_arguments_copy() (#367)
• Updated to ensure that context instance id storage is aligned correctly (#365)
• Fixed error from uncrustify v0.68 (#364)
• Contributors: Jacob Perron, William Woodall, sgvandijk

0.6.3 (2018-12-13)

• Set rmw_wait timeout using ros timers too (#357)
• Contributors: Shane Loretz

0.6.2 (2018-12-13)

• Updated docs about possibility of rcl_take not taking (#356)
• Bugfix: ensure NULL timeout is passed to rmw_wait() when min_timeout is not set Otherwise, there is a risk of integer overflow (e.g. in rmw_fastrtps) and rmw_wait() will wake immediately.
• Contributors: Jacob Perron, William Woodall

0.6.1 (2018-12-07)

• Added new cli parameters for configuring the logging. (#327)
• Added node graph api to rcl. (#333)
• Fixed compiler warning in clang (#345)
• Refactored init to not be global (#336)
• Methods to retrieve matched counts on pub/sub. (#326)
• Updated to output index in container when adding an entity to a wait set. (#335)
• Contributors: Jacob Perron, Michael Carroll, Nick Burek, Ross Desmond, William Woodall

0.6.0 (2018-11-16)

• Updated to expand node_secure_root using local_namespace (#300)
• Moved stdatomic helper to rcutils (#324)
• Added subfolder argument to the ROSIDL_GET_SRV_TYPE_SUPPORT macro (#322)
• Updated to use new error handling API from rcutils (#314)
• Fixed minor documentation issues (#305)
• Added macro semicolons (#303)
• Added Rcl timer with ros time (#286)
• Updated to ensure that timer period is non-negative (#295)
• Fixed calculation of next timer call (#291)
• Updated to null deallocated jump callbacks (#294)
• Included namespaces in get_node_names. (#287)
• Fixed documentation issues (#288)
• Updated to check if pointers are null before calling memset (#290)
• Added multiple time jump callbacks to clock (#284)

• Consolidated wait set functions (#285) * Consolidate functions to clear wait set Added rcl_wait_set_clear() Added rcl_wait_set_resize() Removed rcl_wait_set_clear_subscriptions() rcl_wait_set_clear_guard_conditions() rcl_wait_set_clear_clients() rcl_wait_set_clear_services() rcl_wait_set_clear_timers() rcl_wait_set_resize_subscriptions() rcl_wait_set_resize_guard_conditions() rcl_wait_set_resize_timers() rcl_wait_set_resize_clients() rcl_wait_set_resize_services()

• ROS clock storage initially set to zero (#283)
• Fixed issue with deallocation of parameter_files (#279)
• Update to initialize memory before sending a message (#277)
• Set error message when clock type is not ROS_TIME (#275)
• Copy allocator passed in to clock init (#274)
• Update to initialize timer with clock (#272)
• Updated to use test_msgs instead of std_msgs in tests (#270)
• Added regression test for node:__ns remapping (#263)
• Updated to support Uncrustify 0.67 (#266)
• Contributors: Chris Lalancette, Chris Ye, Dirk Thomas, Jacob Perron, Michael Carroll, Mikael Arguedas, Ruffin, Shane Loretz, William Woodall, dhood

0.5.0 (2018-06-25)

• Updated code to only use rcutils_allocator_t and not use system memory functions directly. (#261)
• Changed code to use rcutils_format_string() rather than malloc and rcutils_snprintf() (#240)
• Added functions for dealing with serialized messages. (#170)
• Updated to use test_msgs instead of example_interfaces. (#259)
• Added regression test for the Connext specific 'wrong type writer' error. (#257)
• Added the ability to set the default logger level from command line. (#256)
• Refactored the memory_tools testing API to osrf_testing_tools_cpp (#238)
• Added support for passing YAML parameter files via the command line arguments. (#253)
• Migrated existing uses of launch to use the same API in it's new API launch.legacy. (#250)
• Added a printed warning if non-FQN namespace remapping is passed. (#248)
• Made some changes toward MISRA C compliance. (#229)
• Changed rcl_node_init() so that it now copies node options passed into it (#231)
• Fixed some memory leaks in test_arguments (#230)
• Extended static remapping feature with support for the url scheme (#227)
• Made a change to force rcl_arguments_t to be zero initialized. (#225)
• Updated documentation for rmw_get_node_names() to mention the potential for null values (#214)
• Fix an issue with signed time difference. (#224)
• Changed library export order to fix static linking (#216)
• Implemented static remapping over command line arguments (#217 and #221)
• Added a sized validation function for the topic name as rcl_validate_topic_name_with_size() (#220)
• Added a logger name and stored it in the rcl node structure (#212)
• Changed rcutils_time_point_value_t type from uint64_t to int64_t (#208)
• Fixed a potential bug by resetting the RMWCount when using the DEALLOC macro on rmw storage of a wait set (#209 and #211)
  • Signed-off-by: jwang <<jing.j.wang@intel.com>>
• Fixed a potential bug by resetting wait_set type index in the SET_RESIZE macro (#207)
  • Signed-off-by: jwang <<jing.j.wang@intel.com>>
• Removed a slash behind SET_CLEAR MACRO (#206)
  • Signed-off-by: jwang <<jing.j.wang@intel.com>>
• Changed rmw result validation string to not ever return nullptr (#193)
  • Signed-off-by: Ethan Gao <<ethan.gao@linux.intel.com>>
• Clarified that rcl_take_response() populates the request_header (#205)
• Removed a now obsolete connext workaround (#203)
• Fixed a potential segmentation fault due to a nullptr dereference (#202)
  • Signed-off-by: Ethan Gao <<ethan.gao@linux.intel.com>>
• Contributors: Dirk Thomas, Ethan Gao, Karsten Knese, Michael Carroll, Mikael Arguedas, Shane Loretz, William Woodall, dhood, jwang11, serge-nikulin