swri_roscpp

This packages contains a set of wrappers classes and functions for common ROS operations.

Topic Services

Topic services are a wrappers over ROS topics that provide a service like functionality but in a much more introspectable way. Eg: There is no ros2 service echo and no way to view service clients in a running system.

The usage is very similar to that of standard ROS services and can even make use of the same service definitions. For most usages simply just substitute ros::ServiceServer or ros::ServiceClient for swri::TopicServiceServer or swri::TopicServiceClient in the declaration and use it in the same way.

Generating Topics from a Service

In order to generate the backing topics for a Topic Service from a service message add a generate_topic_service_files block to your project’s CMakeList.txt and use it almost the same way you would an rosidl_generate_interfaces block. This generates the individual topic service messages and returns a list of these to the variable named by the first argument. Make sure to add these to your rosidl_generate_interfaces call along with the marti_common_msgs dependency.

Make sure to add swri_roscpp as a dependency to your message project.

For example:

generate_topic_service_files(generated_message_list
 DIRECTORY topic_srv
 FILES
  ClearActiveRoute.srv
  DeleteRoute.srv
  GetRoute.srv
  GetRouteNames.srv
  SaveRoute.srv
  SetActiveRoute.srv
  SetRoute.srv
  SetNextCheckpoint.srv
)

rosidl_generate_interfaces(${PROJECT_NAME}
   your_other_messages_here.msg
   ${generated_message_list}
  DEPENDENCIES 
   ${MSG_DEPS}
   marti_common_msgs
)

To use the generated topics simply include your_project/srv/your_service.h. They have response and request fields just like normal services.

Dynamic Parameters

Note: This package’s dynamic parameter implementation has been deprecated and removed; it is unnecessary in ROS 2 Dashing and rclcpp::Node::declare_parameter provides an equivalent alternative.

Changelog for package swri_roscpp

3.7.3 (2024-09-18)

3.7.2 (2024-09-16)

3.7.1 (2024-09-06)

3.7.0 (2024-09-06)

• Simplify Cmake by linking to the library target (#742) By linking to the library target, we can reuse the include paths and libraries from it. This will simplify the Cmake a bit. It also fixes a bug when linking to the [ros2-jazzy]{.title-ref} branch of [diagnostic_updater]{.title-ref}.
• Sanity checking time before performing duration calculation (#735)
• Add definitions for subscribers with unique_ptr callback arguments (#731)
• Cleaning up package maintainer (#721)
• Contributors: David Anthony, Ramon Wijnands, Veronica Knisley

3.6.1 (2023-09-11)

• Fixing Buildfarm Issues (#716)
  • Cleaning up code to fix build farm errors
• Contributors: David Anthony

3.6.0 (2023-08-22)

• Rolling updates (#715)
  • Updating code for Rolling.
  • Removing conditional compilation code related to EOL distributions.
• Contributors: David Anthony

3.5.4 (2023-08-14)

• Add publisher and subscription options to constructors (#714)
• Use System QoS Settings as Defaults (#713)
• Adding wrapper for unique_ptr arguments (#712)
• Contributors: David Anthony, Veronica Knisley

3.5.3 (2023-06-07)

• Fixing build warnings (#707)
• Contributors: David Anthony

3.5.2 (2023-05-30)

• Fix dependencies (#704)
  • Fixing build process so dependencies are correctly exported.
• Contributors: David Anthony

3.5.1 (2022-11-29)

3.5.0 (2022-10-11)

3.4.2 (2022-10-10)

• Add Humble Support (#691)
  • Adding Humble support based on \@shrijitsingh99 PR in https://github.com/swri-robotics/marti_common/pull/685
• Contributors: David Anthony, Shrijit Singh

3.3.2 (2020-11-24)

• Fix topic services under ros2 (#604)
• Fix bugs related to subscription age and setting timeout (#609, #611) (#612)
• Contributors: David Anthony, mschickler

3.3.1 (2020-08-19)

3.3.0 (2020-07-15)

• Implement topic services in ROS 2 (#2893)
• Contributors: Matthew Bries

3.2.1 (2020-06-10)

• ROS Foxy support (#582)
• Contributors: P. J. Reed

3.2.0 (2020-05-13)

3.1.0 (2020-03-30)

3.0.5 (2020-03-10)

3.0.4 (2020-03-05)

• ROS 2 Eloquent compatibility (#568)
• Contributors: P. J. Reed

3.0.3 (2019-11-11)

• Replace deprecated functions in swri_roscpp
• Contributors: P. J. Reed

3.0.2 (2019-11-11)

3.0.1 (2019-11-11)

3.0.0 (2019-11-08)

• ROS2 Dashing conversion (#549)
• Contributors: P. J. Reed

2.10.0 (2019-09-04)

• Prevent swri:Subscriber latency calculations if current time is zero (#548)
• Change way name is created for topic services (#541)
• Contributors: jgassaway, nick-alton

2.9.0 (2019-05-23)

• Add callback for on change for dynamic parameters (#540)
• Add topic service unit tests (#538)
• Contributors: Matthew, P. J. Reed

2.8.0 (2019-02-06)

• Add dynamic parameters (#532)
• Contributors: Matthew

2.7.3 (2019-01-03)

2.7.2 (2018-12-20)

• Fix cmake macro for service_splitter.py (#535)
• Contributors: P. J. Reed

2.7.1 (2018-12-14)

• Fix conditional causing exists to not work properly. (#533)
• Remove non ascii character to please python (#530)
• Contributors: Matthew

2.7.0 (2018-12-04)

• Add topic based services and associated cmake utils (#523) Provide utilities for implementing service type requests using messages in an almost transparent way.
• Contributors: Matthew

2.6.0 (2018-11-03)

2.5.0 (2018-10-12)

2.4.0 (2018-10-09)

• Update package maintainers (#520)
• Contributors: P. J. Reed

2.3.0 (2018-05-25)

• Only calculate statistics when messages arrive in order (#516)
• Contributors: David Anthony

2.2.1 (2018-05-11)

2.2.0 (2018-02-12)

• Fix crash from messages with null timestamps (#511)
• Contributors: Matthew

2.1.0 (2018-01-26)

2.0.0 (2017-12-18)

• Ensure all swri::Subscriber members are initialized (#505)
• Contributors: P. J. Reed

1.2.0 (2017-10-13)

1.1.0 (2017-08-31)

• Add OptionalDiagnosedPublisher class (#483)
• Contributors: Edward Venator, P. J. Reed

1.0.0 (2017-08-02)

• Add support for boost::function callbacks to swri::Subscriber.
• Contributors: Elliot Johnson

0.3.0 (2017-06-20)

• Merge together the indigo, jade, and kinetic branches (#443)
• Contributors: P. J. Reed

0.2.4 (2017-04-11)

• Port #385 and #419 to kinetic. (#420) A common error when using unfamiliar ROS nodes is to accidentally set parameters by the wrong name. This feature allows the node author to output a WARNING for any unused parameters. Ported forward from indigo-devel
• Contributors: Edward Venator

0.2.3 (2016-12-09)

0.2.2 (2016-12-07)

• Deprecate LatchedSubscriber. (#391) LatchedSubscriber should be replaced with a swri::Subscriber that is initialized with the address of a location to store messages. This change makes for a simpler and more consistent interface, and avoids the confusion that comes from overloading the -> operator.
• Contributors: P. J. Reed

0.2.1 (2016-10-23)

0.2.0 (2016-06-21)

0.1.5 (2016-05-13)

0.1.4 (2016-05-12)

• Add timeoutParam() method to swri::Subscriber. This commit adds a new convenience method, timeoutParam, to swri::Subscriber that reads a specified parameter directly from the parameter server and sets it as the subscriber's timeout value. This is to simplify setup code that currently has to define a temporary variable, read the parameter in the temp, and then set the timeout.
• Contributors: Elliot Johnson

0.1.3 (2016-03-04)

• Adds getParam() functions to swri_roscpp. These functions wrap NodeHandle::getParam(). If the parameter does not exist, they emit an error message and return false.
• Fixes some compiler warnings.
• The swri::Subscriber::blockTimeouts function now returns a value. Previously, it did not explicitly returning a value, which has undefined behavior. It now returns the result of the blockTimeouts function that it wraps.
• Contributors: Edward Venator, Elliot Johnson, P. J. Reed

0.0.14 (2017-04-11)

• Increase queue_size in swri_roscpp/Subscriber. This commit increases the queue size for subscribers that use the store mechanism instead of a callback. The queue size was set to 1, which we have seen problems with, so this will increase it to 2.
• Add missing qualifiers for swri_roscpp unused parameter functions.
• Merge pull request #385 from evenator/unused-parameter-warnings Adds the ability to warn when unused parameters are set in a namespace.
• Add test for getUnusedParamKeys Adds an automated test for getUnusedParamKeys based on the example code.
• Remove default value of node handle for warnUnusedParams This default value may cause unexpected behvavior, especially with nodelets.
• Rename param_test to param_example. param_test isn't an automated test, just an example of how to use the param utilities.
• Document unused parameter functions. The set difference algorithms used to determine which parameters are used are non-obvious. This adds documentation.
• Mark _used_params static.
• Adds the ability to warn when unused parameters are set in a namespace. A common error when using unfamiliar ROS nodes is to accidentally set parameters by the wrong name. This features allows the node author to output a WARNING for any unused parameters. See the param_test node for an example.
• Contributors: Ed Venator, Edward Venator, Elliot Johnson, elliotjo

0.0.13 (2016-10-23)

• Add swri_roscpp functions for reading float values. These add support for reading float values directly instead of doubles.
• Contributors: Elliot Johnson

0.0.12 (2016-08-14)

0.0.11 (2016-05-13)

0.0.10 (2016-05-12)

• Deprecate LatchedSubscriber. This commit adds an alternative to LatchedSubscriber and deprecates the LatchedSubscriber interface. LatchedSubscriber should be replaced with a swri::Subscriber that is initialized with the address of a location to store messages. For example, instead of: swri::LatchedSubscriber<my_package::MyMessage> msg_; ... msg_.initialize(nh_, "topic_name"); ... ROS_INFO("msg->field = %f", msg->field); this becomes: swri::Subscriber sub_; my_package::MyMessageConstPtr msg_; ... sub_ = swri::SubscribeR(nh_, "topic_name", &msg_); ... ROS_INFO("msg->field = %f", msg->field). This change makes for a simpler and more consistent interface, and avoids the confusion that comes from overloading the -> operator.

0.0.9 (2016-03-04)

0.0.8 (2016-01-06)

• Makes swri::Subscriber's assignment operator return a value. According to the C++ spec, assignment operators must return a reference to the current object (*this). swri::Subscriber's assignment operator was not returning a value, which works in GCC, but not Clang. GCC would do the right thing for you, but Clang will compile the code but generate a SIGILL exception at runtime. This is easily fixed by manually returning *this.
• Contributors: P. J. Reed

0.0.7 (2015-11-18)

• Fixes broken changelog #279.

0.0.6 (2015-11-17)

• First release of swri_roscpp
• Contributors: Edward Venator

0.1.2 (2016-01-06)

0.1.1 (2015-11-17)

• First jade release of swri_roscpp
• Contributors: Edward Venator

0.1.0 (2015-09-29)

0.0.5 (2015-09-27 15:27)

0.0.4 (2015-09-27 11:35)

0.0.3 (2015-09-26)

0.0.2 (2015-09-25 15:00)

0.0.1 (2015-09-25 09:06)