Hook up the inconsistent topic event inside of rclcpp#2069
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clalancette merged 6 commits intorollingfrom Mar 13, 2023
Merged
Hook up the inconsistent topic event inside of rclcpp#2069clalancette merged 6 commits intorollingfrom
clalancette merged 6 commits intorollingfrom
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ivanpauno
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LGTM!
I have some minor comments
| using QOSDeadlineOfferedInfo = rmw_offered_deadline_missed_status_t; | ||
| using QOSLivelinessChangedInfo = rmw_liveliness_changed_status_t; | ||
| using QOSLivelinessLostInfo = rmw_liveliness_lost_status_t; | ||
| using QOSMessageLostInfo = rmw_message_lost_status_t; |
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it may be worth to rename this one as MessageLostInfo, as it's not qos related as well
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I agree, but I think it is outside the scope of this PR. I can open an issue to track that in a separate PR, if we want.
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Implementation looks good to me, but i want to know the behavior of this event mechanism in actual use cases.
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fujitatomoya
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We are going to be using it for more than just QOS events, so rename it to just EventHandler and EventHandlerBase for now. Leave the old names in place but deprecated. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
This just reduces the amount of duplicated code. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
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Barry-Xu-2018
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* Rename QOSEventHandler* to EventHandler. We are going to be using it for more than just QOS events, so rename it to just EventHandler and EventHandlerBase for now. Leave the old names in place but deprecated. * Rename qos_event.hpp -> event_handler.hpp * Revamp incompatible_qos callback setting. * Add in incompatible type implementation. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
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This PR is part of ros2/ros2#1361 . In particular, what this does is take the inconsistent topic event as it comes from the rmw/rcl layer, and allows the user to register for a callback to find that out.
Along the way, some refactoring was in order. In particular, rclcpp assumed that all events were QoS events, which is not really the case. This PR does some renaming of things to make it clear that these events are not just for QoS, but can be for other things as well. With that done, the last patch in the series actually implements the inconsistent topic callback.
Part of ros2/ros2#1361
Depends on ros2/rmw#339
Depends on ros2/rcl#1024