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Add content-filtered-topic interfaces#1506

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ahcorde merged 4 commits intoros2:rollingfrom
Barry-Xu-2018:review/rclpy-support-contentfilter
Oct 1, 2025
Merged

Add content-filtered-topic interfaces#1506
ahcorde merged 4 commits intoros2:rollingfrom
Barry-Xu-2018:review/rclpy-support-contentfilter

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@Barry-Xu-2018 Barry-Xu-2018 commented Sep 23, 2025

Description

Add ContentFilteredTopic interface

Fixes #1504

Is this user-facing behavior change?

No

Did you use Generative AI?

No

@Barry-Xu-2018
Add content-filtered-topic interfaces
504a3d1 
Signed-off-by: Barry Xu <barry.xu@sony.com>
@Barry-Xu-2018 Barry-Xu-2018 marked this pull request as draft September 23, 2025 07:38
ahcorde
ahcorde reviewed Sep 23, 2025
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Add a missing header file
0b8f292 
Signed-off-by: Barry Xu <barry.xu@sony.com>
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Barry-Xu-2018 commented Sep 23, 2025

I am currently updating the code to configure the content filter when creating the subscription.

@fujitatomoya fujitatomoya self-requested a review September 23, 2025 12:17
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fujitatomoya commented Sep 23, 2025

@Barry-Xu-2018 thanks for handling this issue. i am happy to review this once it is ready!

Barry-Xu-2018 and others added 2 commits September 24, 2025 09:23
@Barry-Xu-2018
Add the code to configure the content filter when creating the subscr…
0862208 
…iption

Signed-off-by: Barry Xu <barry.xu@sony.com>
@Barry-Xu-2018
Add a new test regarding configuring content filters when creating a …
182c4fd 
…subscription

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
@Barry-Xu-2018 Barry-Xu-2018 marked this pull request as ready for review September 25, 2025 01:47
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Barry-Xu-2018 commented Sep 25, 2025

@fujitatomoya Please review this PR.

@fujitatomoya fujitatomoya added the enhancement New feature or request label Oct 1, 2025
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fujitatomoya approved these changes Oct 1, 2025
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lgtm with green CI.

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fujitatomoya commented Oct 1, 2025 •
edited by ahcorde
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Pulls: #1506
Gist: https://gist.githubusercontent.com/fujitatomoya/a7463daf9072b53bbb716436b713745b/raw/c60a81e0f31a2caa5b45465fe2fdf0cc490fc4a1/ros2.repos
BUILD args: --packages-above-and-dependencies rclpy
TEST args: --packages-above rclpy
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/17092

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@ahcorde ahcorde merged commit 8d42eaa into ros2:rolling Oct 1, 2025
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peci1 commented Oct 8, 2025

Great job, right on time for us :D Could we expect backports to Kilted and Jazzy?

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fujitatomoya commented Oct 8, 2025

@peci1 i am almost sure we can do that, probably there can be some conflict for jazzy... btw @Barry-Xu-2018 is on vacation 🍹

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Barry-Xu-2018 commented Oct 10, 2025

I am back, and I will handle backports to Kilted and Jazzy.

I may not have permission, attempting to execute.
@Mergifyio backport kilted jazzy

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Barry-Xu-2018 commented Oct 10, 2025

@Mergifyio backport kilted jazzy

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mergify bot commented Oct 10, 2025

backport kilted jazzy

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Barry-Xu-2018 commented Oct 10, 2025

@fujitatomoya Please help to do backport action. I will handle conflicts.

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fujitatomoya commented Oct 10, 2025

@Mergifyio backport kilted jazzy

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mergify bot commented Oct 10, 2025 •
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backport kilted jazzy

✅ Backports have been created

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mergify bot pushed a commit that referenced this pull request Oct 10, 2025
@Barry-Xu-2018 @mergify
Add content-filtered-topic interfaces (#1506)
ec5a516 
Signed-off-by: Barry Xu <Barry.Xu@sony.com>
(cherry picked from commit 8d42eaa)

# Conflicts:
#	rclpy/rclpy/impl/_rclpy_pybind11.pyi
#	rclpy/rclpy/node.py
#	rclpy/src/rclpy/subscription.cpp
#	rclpy/src/rclpy/subscription.hpp
#	rclpy/test/test_subscription.py
@mergify mergify bot mentioned this pull request Oct 10, 2025
Merged
mergify bot pushed a commit that referenced this pull request Oct 10, 2025
@Barry-Xu-2018 @mergify
Add content-filtered-topic interfaces (#1506)
c73ecca 
Signed-off-by: Barry Xu <Barry.Xu@sony.com>
(cherry picked from commit 8d42eaa)

# Conflicts:
#	rclpy/rclpy/impl/_rclpy_pybind11.pyi
#	rclpy/rclpy/node.py
#	rclpy/rclpy/subscription.py
#	rclpy/src/rclpy/subscription.cpp
#	rclpy/src/rclpy/subscription.hpp
#	rclpy/test/test_subscription.py
@mergify mergify bot mentioned this pull request Oct 10, 2025
Merged
fujitatomoya pushed a commit that referenced this pull request Oct 12, 2025
@mergify @Barry-Xu-2018
Add content-filtered-topic interfaces (backport #1506) (#1520)
eb27b18 
* Add content-filtered-topic interfaces (#1506)

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
(cherry picked from commit 8d42eaa)

# Conflicts:
#	rclpy/rclpy/impl/_rclpy_pybind11.pyi
#	rclpy/rclpy/node.py
#	rclpy/src/rclpy/subscription.cpp
#	rclpy/src/rclpy/subscription.hpp
#	rclpy/test/test_subscription.py

* Resolve merge conflicts (#1522)

Signed-off-by: Barry Xu <Barry.Xu@sony.com>

---------

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
Co-authored-by: Barry Xu <barry.xu@sony.com>
InvincibleRMC pushed a commit to InvincibleRMC/rclpy that referenced this pull request Nov 20, 2025
@Barry-Xu-2018 @InvincibleRMC
Add content-filtered-topic interfaces (ros2#1506)
b7767b8 
Signed-off-by: Barry Xu <Barry.Xu@sony.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
ahcorde added a commit that referenced this pull request Dec 1, 2025
@mergify @Barry-Xu-2018 @ahcorde
Add content-filtered-topic interfaces (backport #1506) (#1521)
7343db5 
* Add content-filtered-topic interfaces (#1506)

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
(cherry picked from commit 8d42eaa)

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Barry Xu <barry.xu@sony.com>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
@peci1 peci1 mentioned this pull request Dec 1, 2025
Open
jplapp pushed a commit to pixel-robotics/rclpy that referenced this pull request Dec 12, 2025
@mergify @Barry-Xu-2018
@ahcorde @jplapp
Add content-filtered-topic interfaces (backport ros2#1506) (ros2#1521)
246d41a 
* Add content-filtered-topic interfaces (ros2#1506)

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
(cherry picked from commit 8d42eaa)

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Barry Xu <barry.xu@sony.com>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
InvincibleRMC pushed a commit to InvincibleRMC/rclpy that referenced this pull request Jan 12, 2026
@Barry-Xu-2018 @InvincibleRMC
Add content-filtered-topic interfaces (ros2#1506)
0033a77 
Signed-off-by: Barry Xu <Barry.Xu@sony.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
InvincibleRMC added a commit that referenced this pull request Jan 21, 2026
@InvincibleRMC @clalancette
@Barry-Xu-2018 @brennanmk @bmartin427 @ahcorde @fujitatomoya @jmblixt3 @christian-rauch @nwn @YuanYuYuan @Timple @leeminju531 @bjsowa @nadavelkabets @Flova @michaeltandy @christophebedard
Update type_support.py to use new message abstract base classes (#1509
70ddf4b 
)

* Fix warnings from gcc. (#1501)

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Update type_support to use new abcs

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Cleanup old test cases to use new automatic inference

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add content-filtered-topic interfaces (#1506)

Signed-off-by: Barry Xu <Barry.Xu@sony.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Added lock to protect futures for multithreaded executor (#1477)

Signed-off-by: brennanmk <brennanmk2200@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* EventsExecutor: Handle async callbacks for services and subscriptions (#1478)

Closes #1473

Signed-off-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* add spinning state for the Executor classes. (#1510)

Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Fixes Action.*_async futures never complete (#1308)

Per rclpy:1123 If two seperate client server actions are running in seperate executors the future given to the ActionClient will never complete due to a race condition
This fixes  the calls to rcl handles potentially leading to deadlock scenarios by adding locks to there references
Co-authored-by: Aditya Agarwal <aditya.kgp25@gmail.com>
Co-authored-by: Jonathan Blixt <jmblixt3@gmail.com>
Signed-off-by: Jonathan Blixt <jmblixt3@gmail.com>

Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* remove unused 'param_type' (#1524)

'param_type' is set but never used

Signed-off-by: Christian Rauch <Christian.Rauch@unileoben.ac.at>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Changelog

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* 10.0.1

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Remove duplicate future handling from send_goal_async (#1532)

A recent change intended to move this logic into a lock context, but
actually ended up duplicating it instead. This fixes that by removing
the duplicated logic outside of the lock. It also preserves the explicit
typing annotation on the future.

Signed-off-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* fix(test_events_executor): destroy all nodes before shutdown (#1538)

Signed-off-by: yuanyuyuan <az6980522@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* add BaseImpl

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Add ImplT Support

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* fix changelong

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Remove accidental tuple (#1542)

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Allow action servers without execute callback (#1219)

Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>

* add : get clients, servers info (#1307)

Signed-off-by: Minju, Lee <dlalswn531@naver.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* 10.0.2

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* update tests

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* ParameterEventHandler support ContentFiltering (#1531)

* ParameterEventHandler support ContentFiltering

Signed-off-by: Barry Xu <barry.xu@sony.com>

* Address review comments

Signed-off-by: Barry Xu <barry.xu@sony.com>

---------

Signed-off-by: Barry Xu <barry.xu@sony.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Fix issues with resuming async tasks awaiting a future (#1469)

Signed-off-by: Błażej Sowa <bsowa123@gmail.com>
Signed-off-by: Nadav Elkabets <elnadav12@gmail.com>
Co-authored-by: Nadav Elkabets <32939935+nadavelkabets@users.noreply.github.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* 10.0.3

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Increase clock accuracy (#1564)

Signed-off-by: Florian Vahl <git@flova.de>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Use unconditional wait when possible. (#1563)

Previously the max() value of the steady time was used as the default deadline. In some environments this results in overflows in the underlying pthread_cond_timedwait call, which waits for the conditional variable in the events queue implementation. Consequently, this lead to freezes in the executor. Reducing the deadline significantly helped, but using `cv.wait` instead of `cv_.wait_until` seems to be the cleaner solution.

Signed-off-by: Florian Vahl <florian.vahl@dlr.de>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Remove default from switch with enum, so that compiler warns. (#1566)

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Fix parameter parsing for unspecified target nodes (#1552)

Signed-off-by: Barry Xu <barry.xu@sony.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Improve the compatibility of processing YAML parameter files (#1548)

Signed-off-by: Barry Xu <barry.xu@sony.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Improve wildcard parsing and optimize the logic for parsing YAML para… (#1571)

Signed-off-by: Barry Xu <barry.xu@sony.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Expose action graph functions as Node class methods. (#1574)

* Expose action graph functions as Node class methods.

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>

* address review comments to keep the warning consistent.

Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

---------

Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>

* Fix performance bug in MultiThreadedExecutor (hopefully) (#1547)

Signed-off-by: Michael Tandy <git@mjt.me.uk>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Changelog

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* 10.0.4

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* use Msg over BaseMessage

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Use Srv over BaseService

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Use Action over BaseAction

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* lint

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

* Update rclpy/rclpy/type_support.py

Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com>
Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>

---------

Signed-off-by: Michael Carlstrom <rmc@carlstrom.com>
Signed-off-by: Barry Xu <Barry.Xu@sony.com>
Signed-off-by: brennanmk <brennanmk2200@gmail.com>
Signed-off-by: Brad Martin <bmartin@fatlxception.org>
Signed-off-by: Tomoya.Fujita <tomoya.fujita825@gmail.com>
Signed-off-by: Christian Rauch <Christian.Rauch@unileoben.ac.at>
Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Signed-off-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>
Signed-off-by: yuanyuyuan <az6980522@gmail.com>
Signed-off-by: Tim Clephas <tim.clephas@nobleo.nl>
Signed-off-by: Minju, Lee <dlalswn531@naver.com>
Signed-off-by: Barry Xu <barry.xu@sony.com>
Signed-off-by: Błażej Sowa <bsowa123@gmail.com>
Signed-off-by: Nadav Elkabets <elnadav12@gmail.com>
Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
Signed-off-by: Florian Vahl <git@flova.de>
Signed-off-by: Florian Vahl <florian.vahl@dlr.de>
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Tomoya.Fujita <Tomoya.Fujita@sony.com>
Signed-off-by: Michael Tandy <git@mjt.me.uk>
Co-authored-by: Chris Lalancette <clalancette@gmail.com>
Co-authored-by: Barry Xu <barry.xu@sony.com>
Co-authored-by: Brennan Miller-Klugman <55165406+brennanmk@users.noreply.github.com>
Co-authored-by: Brad Martin <52003535+bmartin427@users.noreply.github.com>
Co-authored-by: Brad Martin <bmartin@fatlxception.org>
Co-authored-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>
Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Co-authored-by: Jonathan <jmblixt3@gmail.com>
Co-authored-by: Christian Rauch <Christian.Rauch@unileoben.ac.at>
Co-authored-by: Nathan Wiebe Neufeldt <wn.nathan@gmail.com>
Co-authored-by: Yuyuan Yuan <az6980522@gmail.com>
Co-authored-by: Tim Clephas <tim.clephas@nobleo.nl>
Co-authored-by: Minju, Lee <70446214+leeminju531@users.noreply.github.com>
Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
Co-authored-by: Nadav Elkabets <32939935+nadavelkabets@users.noreply.github.com>
Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai>
Co-authored-by: Florian Vahl <git@flova.de>
Co-authored-by: Michael Tandy <git@mjt.me.uk>
Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com>
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@ahcorde ahcorde ahcorde approved these changes

@fujitatomoya fujitatomoya fujitatomoya approved these changes

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Support ContentFilteredTopic (follow-up of rclcpp)

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