Merge Post galactic freeze into Rolling#777
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* Convert Publisher and Subscription to C++ Classes Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixed destructor issues Signed-off-by: ahcorde <ahcorde@gmail.com> * [pub/sub 756 addition] use std::shared_ptr holder type and shared_from_this (#757) * Use std::shared_ptr holder type Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Use shared_from_this for pub/sub Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Make Timer keep Clock wrapper Signed-off-by: Shane Loretz <sloretz@openrobotics.org> * Fixed publisher and subscription destructors Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixed docs Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Shane Loretz <sloretz@openrobotics.org>
* Class object Signed-off-by: Greg Balke <greg@openrobotics.org> * Python adjustments Signed-off-by: Greg Balke <greg@openrobotics.org> * Adjustments to server and enum Signed-off-by: Greg Balke <greg@openrobotics.org> * Adjust destructor calls Signed-off-by: Greg Balke <greg@openrobotics.org> * Clear out destructor Signed-off-by: Greg Balke <greg@openrobotics.org> * Do what rclcpp did Signed-off-by: Greg Balke <greg@openrobotics.org> * Remove iostream (used for debugging) Signed-off-by: Greg Balke <greg@openrobotics.org> * Matching upstream changes Signed-off-by: Greg Balke <greg@openrobotics.org>
* Convert ActionClient to use C++ classes Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Added convert_from_py to utils Signed-off-by: ahcorde <ahcorde@gmail.com> * improved docs Signed-off-by: ahcorde <ahcorde@gmail.com> * nits to adapt the code to pybind11 Signed-off-by: ahcorde <ahcorde@gmail.com> * throw a exception in convert_from_py Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixed docs Signed-off-by: ahcorde <ahcorde@gmail.com>
* Convert ActionServer to use C++ Classes Signed-off-by: ahcorde <ahcorde@gmail.com> * Fixed Test_action_server Signed-off-by: ahcorde <ahcorde@gmail.com> * Improved docs Signed-off-by: ahcorde <ahcorde@gmail.com> * Improved docs and minor fixes Signed-off-by: ahcorde <ahcorde@gmail.com>
* Convert WaitSet to use C++ Classes Signed-off-by: ahcorde <ahcorde@gmail.com> * added feedback Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
* Convert Guardcondition to use C++ classes Signed-off-by: ahcorde <ahcorde@gmail.com> * make destroy guard condition capsule function private Signed-off-by: ahcorde <ahcorde@gmail.com>
* Add GoalEvent back to module Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * self._goal -> self._goal_handle Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Remove unused API Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> Co-authored-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
* convert Node and Context to use C++ Classes Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Added feedback Signed-off-by: ahcorde <ahcorde@gmail.com> * Implement solution 1 Signed-off-by: ahcorde <ahcorde@gmail.com> * Prevent double early destruction of destroyable This along with an extra call to `destroy_node()` in `Node.__del__` was causing a segfault in the test_publisher test. The problem is `destroy_when_not_in_use()` was being called twice, and the second time is now a problem because rcl_ptrs_ is dereferenced in the qos_event destroy() method. Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Remove unnecessary Node.__del__ This should not be required. If it is, it means there's a bug that shows when the Node is garbage collected. Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Fix order of pointers in RclPtrs structs The order of the pointers in the RclPtrs structs is important. Things at the bottom are destroyed first, so children must be placed underneath the parent's that must be kept alive. Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Intentionally copy rclpy:: objects instead of having RclPtrs structs (#773) * Rough pass converting everything Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Fixes to get copy destruction order working Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> * Fix qos_event test flakiness Signed-off-by: Shane Loretz <sloretz@osrfoundation.org> Signed-off-by: ahcorde <ahcorde@gmail.com> * MacOS warning Signed-off-by: ahcorde <ahcorde@gmail.com> * added feedback and removed some files Signed-off-by: ahcorde <ahcorde@gmail.com> * Create only one context otherwise throw a exception Signed-off-by: ahcorde <ahcorde@gmail.com> Co-authored-by: Shane Loretz <sloretz@osrfoundation.org> Co-authored-by: Shane Loretz <sloretz@openrobotics.org>
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DCO bot is unhappy, not sure why. All of these commits are squash/merges - maybe github doesn't signoff them? It seems reasonable to set the DCO bot to pass since individually these PRs all passed. |
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Yeah, that seems reasonable to me. On another note, I'll suggest we do a full build-n-test with these changes in place (including Windows Debug). I know we've done that for the individual PRs, but this is a big enough change that a full CI is warranted. |
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Seems like a reasonable way to double check everything, especially Windows debug since this hasn't had the nightlies run on it. CI (build:
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ahcorde
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Apr 28, 2021
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CI green ✔️ and approved 🎉 |
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This reverts commit 1b335d3. Signed-off-by: Shane Loretz <sloretz@osrfoundation.org>
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Part of #665 - This includes all the pybind11 changes that we want to merge in Galactic patch 1. Before that, we've got to update rolling. All code here has already has been reviewed and approved.
I think rebase and merge would be good as that preserves the history of a bunch of different squash/merged PRs.