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Add wait set examples #315

Merged
merged 59 commits into from
Jul 31, 2021
Merged

Add wait set examples #315

merged 59 commits into from
Jul 31, 2021

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carlossvg
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@carlossvg carlossvg commented Jun 25, 2021 •
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This PR adds examples for how to use the new rclcpp::WaitSet classes. It is an extension of the existing PR #262 created by @wjwwood.

This PR includes the following additional examples:

  • wait_set_subscriber.cpp uses a rclcpp::WaitSet to wait and poll for data
  • static_wait_set_subscriber.cpp uses a rclcpp::StaticWaitSet to wait and poll for data
  • time_triggered_wait_set_subscriber.cpp uses a rclcpp::Waitset and a timer to poll for data
    periodically
  • wait_set.cpp: Simple example showing how to use the default wait-set with a dynamic
    storage policy and a sequential (no thread-safe) synchronization policy.
  • static_wait_set.cpp: Simple example showing how to use the static wait-set with a static
    storage policy.
  • thread_safe_wait_set.cpp: Simple example showing how to use the thread-safe wait-set with a
    thread-safe synchronization policy.
  • wait_set_topics_and_timer.cpp: Simple example using multiple subscriptions,
    publishers, and a timer.
  • wait_set_random_order.cpp: An example showing user-defined
    data handling and a random publisher. executor_random_order.cpp run the same node logic
    using SingleThreadedExecutor to compare the data handling order.
  • wait_set_and_executor_composition.cpp: An example showing how to combine a
    SingleThreadedExecutor and a wait-set.
  • wait_set_topics_with_different_rate.cpp: An example showing how to use a custom trigger
    condition to handle topics with different topic rates.

Some of the examples may be moved to ros2/tutorials or ros2/demos.

Connects to ros2/rclcpp#1047

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@wjwwood I will add more comments, add a readme and probably rename the examples. Could briefly you take a look and see if you miss an example or a specific usage we want to show?

@carlossvg carlossvg force-pushed the wait_set_examples branch 2 times, most recently from f66bb18 to df31c38 Compare June 25, 2021 11:19
@carlossvg carlossvg force-pushed the wait_set_examples branch 7 times, most recently from db0a78e to 3432aa7 Compare June 30, 2021 08:31
@carlossvg carlossvg force-pushed the wait_set_examples branch 3 times, most recently from 57148df to aa1f133 Compare July 6, 2021 13:31
@carlossvg carlossvg requested a review from wjwwood July 7, 2021 07:49
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carlossvg commented Jul 7, 2021 •
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@wjwwood This PR should be ready to review.

@carlossvg carlossvg changed the title Draft: Add wait set examples Add wait set examples Jul 7, 2021
wjwwood
wjwwood reviewed Jul 8, 2021
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wjwwood commented Jul 16, 2021

@Mergifyio rebase

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mergify bot commented Jul 16, 2021

Command rebase: success

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I left some additional comments, mostly minor things.

I would like to discuss (in a call if we can) the examples in examples_rclcpp_wait_set, just to help me understand better.

I think that if we can avoid the headers (may or may not be possible) then it would save us some trouble, but we can discuss that too.

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@carlossvg carlossvg force-pushed the wait_set_examples branch 2 times, most recently from 997a4ca to bee789d Compare July 20, 2021 16:12
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@wjwwood I addressed your comments. You can review it again.

@carlossvg carlossvg requested a review from wjwwood July 20, 2021 16:25
carlossvg and others added 22 commits July 23, 2021 16:25
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Rename Listener to RandomListener
1da4bd2 
Signed-off-by: Carlos San Vicente <carlos.svic@gmail.com>
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
Signed-off-by: William Woodall <william@osrfoundation.org>
@carlossvg @wjwwood
Move wait-set loop thread to the node
a8dd4fb 
Signed-off-by: Carlos San Vicente <carlos.svic@gmail.com>
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
Signed-off-by: William Woodall <william@osrfoundation.org>
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Minimize vertical whitespace
de22d00 
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Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
Signed-off-by: William Woodall <william@osrfoundation.org>
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Register nodes as components
1183764 
Signed-off-by: Carlos San Vicente <carlos.svic@gmail.com>
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
Signed-off-by: William Woodall <william@osrfoundation.org>
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Rename waitset to wait_set
23bcb7a 
Signed-off-by: Carlos San Vicente <carlos.svic@gmail.com>
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
Signed-off-by: William Woodall <william@osrfoundation.org>
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Add minimal siatic wait-set subscriber example
252deef 
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Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
Signed-off-by: William Woodall <william@osrfoundation.org>
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Refactor CMakeLists.txt
fbe1026 
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Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
Signed-off-by: William Woodall <william@osrfoundation.org>
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Remove comment about simulating inter-process communications
53212bf 
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Add joinable
7971186 
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Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
Signed-off-by: William Woodall <william@osrfoundation.org>
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README.md format
4eb028a 
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Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
Signed-off-by: William Woodall <william@osrfoundation.org>
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Update rclcpp/minimal_subscriber/static_wait_set.cpp
06caa2a 
Co-authored-by: William Woodall <william+github@osrfoundation.org>
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
Signed-off-by: William Woodall <william@osrfoundation.org>
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Update rclcpp/minimal_subscriber/wait_set.cpp
642ecf6 
Co-authored-by: William Woodall <william+github@osrfoundation.org>
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
Signed-off-by: William Woodall <william@osrfoundation.org>
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Update rclcpp/minimal_subscriber/wait_set_time_triggered.cpp
07679a4 
Co-authored-by: William Woodall <william+github@osrfoundation.org>
Signed-off-by: Carlos San Vicente <carlos.sanvicente@apex.ai>
Signed-off-by: William Woodall <william@osrfoundation.org>
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Adress reviewer comments for minimal_subscriber
555a590 
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Signed-off-by: William Woodall <william@osrfoundation.org>
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Convert wait-set minimal subscribers to components
4ec7f9f 
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Signed-off-by: William Woodall <william@osrfoundation.org>
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Add note in README for wait-set use cases
44f2239 
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Signed-off-by: William Woodall <william@osrfoundation.org>
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Restore rclcpp/README.md modified indent
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Remove dll compile definitions
6027fb7 
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Signed-off-by: William Woodall <william@osrfoundation.org>
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Minor fixes
b747282 
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Signed-off-by: William Woodall <william@osrfoundation.org>
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Use rclcpp_components_register_node to register components
cf714a9 
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Update rclcpp/topics/minimal_subscriber/README.md
1dff75f 
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Signed-off-by: William Woodall <william@osrfoundation.org>
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fix signed converison or potential loss of data warnings
7d63434 
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wjwwood commented Jul 23, 2021 •
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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

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wjwwood commented Jul 29, 2021

I fixed some of the warning, but didn't follow up yet on the rest. I can do that hopefully tonight and get this merged.

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avoid conversion warnings by using size_t everywhere
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wjwwood commented Jul 31, 2021

CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

@wjwwood wjwwood merged commit 4501468 into ros2:master Jul 31, 2021
@clalancette clalancette mentioned this pull request Apr 29, 2022
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