Merge pull request #2081 from ros/jacob/backports_melodic

Changes between 1.15.8 and 1.15.9 for backporting to Melodic

clients/roscpp/include/ros/param.h

@@ -591,6 +591,17 @@ ROSCPP_DECL bool search(const std::string& key, std::string& result);
  */
 ROSCPP_DECL bool getParamNames(std::vector<std::string>& keys);
 
+/**
+ * \brief Unsubscribe cached parameter from the master
+ * \param key the cached parameter to be unsubscribed
+ */
+ROSCPP_DECL void unsubscribeCachedParam(const std::string& key);
+
+/**
+ * \brief Unsubscribe all cached parameter from the master
+ */
+ROSCPP_DECL void unsubscribeCachedParam(void);
+
 /** \brief Assign value from parameter server, with default.
  *
  * This method tries to retrieve the indicated parameter value from the

clients/roscpp/include/ros/statistics.h

@@ -97,7 +97,7 @@ class ROSCPP_DECL StatisticsLogger
     std::list<ros::Duration> age_list;
     // number of dropped messages
     uint64_t dropped_msgs;
-    // latest sequence number observered (if available)
+    // latest sequence number observed (if available)
     uint64_t last_seq;
     // latest total traffic volume observed
     uint64_t stat_bytes_last;

clients/roscpp/package.xml

@@ -12,14 +12,17 @@
     roscpp is the most widely used ROS client library and is designed to
     be the high-performance library for ROS.
   </description>
-  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>
+  <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
+  <maintainer email="sloretz@openrobotics.org">Shane Loretz</maintainer>
   <license>BSD</license>
 
   <url>http://ros.org/wiki/roscpp</url>
   <author>Morgan Quigley</author>
   <author>Josh Faust</author>
   <author>Brian Gerkey</author>
   <author>Troy Straszheim</author>
+  <author email="dthomas@osrfoundation.org">Dirk Thomas</author>
 
   <buildtool_depend version_gte="0.5.78">catkin</buildtool_depend>
 

clients/roscpp/src/libros/param.cpp

@@ -232,7 +232,11 @@ bool del(const std::string& key)
   {
     boost::mutex::scoped_lock lock(g_params_mutex);
 
-    g_subscribed_params.erase(mapped_key);
+    if (g_subscribed_params.find(mapped_key) != g_subscribed_params.end())
+    {
+      g_subscribed_params.erase(mapped_key);
+      unsubscribeCachedParam(mapped_key);
+    }
     g_params.erase(mapped_key);
   }
 
@@ -797,6 +801,28 @@ void paramUpdateCallback(XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& resul
   ros::param::update((std::string)params[1], params[2]);
 }
 
+void unsubscribeCachedParam(const std::string& key)
+{
+  XmlRpc::XmlRpcValue params, result, payload;
+  params[0] = this_node::getName();
+  params[1] = XMLRPCManager::instance()->getServerURI();
+  params[2] = key;
+  master::execute("unsubscribeParam", params, result, payload, false);
+}
+
+void unsubscribeCachedParam(void)
+{
+  // lock required, all of the cached parameter will be unsubscribed.
+  boost::mutex::scoped_lock lock(g_params_mutex);
+
+  for(S_string::iterator itr = g_subscribed_params.begin();
+    itr != g_subscribed_params.end(); ++itr)
+  {
+    const std::string mapped_key(*itr);
+    unsubscribeCachedParam(mapped_key);
+  }
+}
+
 void init(const M_string& remappings)
 {
   M_string::const_iterator it = remappings.begin();

clients/roscpp/src/libros/rosout_appender.cpp

@@ -137,7 +137,10 @@ void ROSOutAppender::logThread()
         return;
       }
 
-      queue_condition_.wait(lock);
+      if (log_queue_.empty())
+      {
+        queue_condition_.wait(lock);
+      }
 
       if (shutting_down_)
       {

clients/roscpp/src/libros/service_server_link.cpp

@@ -262,6 +262,7 @@ void ServiceServerLink::callFinished()
 
     current_call_->finished_ = true;
     current_call_->finished_condition_.notify_all();
+    current_call_->call_finished_ = true;
 
     saved_call = current_call_;
     current_call_ = CallInfoPtr();

clients/roscpp/src/libros/xmlrpc_manager.cpp

@@ -139,6 +139,9 @@ void XMLRPCManager::shutdown()
     return;
   }
 
+  // before shutting down, unsubscribe all the cached parameter
+  ros::param::unsubscribeCachedParam();
+
   shutting_down_ = true;
   server_thread_.join();
 

clients/rospy/package.xml

@@ -23,14 +23,17 @@
     and <a href="http://ros.org/wiki/rosservice">rosservice</a>, are
     built on top of rospy.
   </description>
-  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>
+  <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
+  <maintainer email="sloretz@openrobotics.org">Shane Loretz</maintainer>
   <license>BSD</license>
 
   <url type="website">http://wiki.ros.org/rospy</url>
   <url type="bugtracker">https://github.com/ros/ros_comm/issues</url>
   <url type="repository">https://github.com/ros/ros_comm</url>
 
   <author>Ken Conley</author>
+  <author email="dthomas@osrfoundation.org">Dirk Thomas</author>
 
   <buildtool_depend version_gte="0.5.78">catkin</buildtool_depend>
 

clients/rospy/src/rospy/core.py

@@ -85,7 +85,7 @@
 import warnings
 def deprecated(func):
     """This is a decorator which can be used to mark functions
-    as deprecated. It will result in a warning being emmitted
+    as deprecated. It will result in a warning being emitted
     when the function is used."""
     def newFunc(*args, **kwargs):
         warnings.warn("Call to deprecated function %s." % func.__name__,
@@ -223,6 +223,10 @@ def __call__(self, caller_id, period):
               (now - last_logging_time) > rospy.Duration(period)):
             self.last_logging_time_table[caller_id] = now
             return True
+        elif last_logging_time > now:
+            self.last_logging_time_table = {}
+            self.last_logging_time_table[caller_id] = now
+            return True
         return False
 
 
@@ -325,7 +329,7 @@ def logfatal_once(msg, *args, **kwargs):
 import functools
 def deprecated(func):
     """This is a decorator which can be used to mark functions
-    as deprecated. It will result in a warning being emmitted
+    as deprecated. It will result in a warning being emitted
     when the function is used."""
     @functools.wraps(func)
     def newFunc(*args, **kwargs):

clients/rospy/src/rospy/impl/masterslave.py

@@ -115,7 +115,7 @@ def validated_f(*args, **kwds):
                 _logger.debug("%s%s", f.__name__, str(args[1:]))
                 #print "%s%s"%(f.func_name, str(args[1:]))
             if len(args) == 1:
-                _logger.error("%s invoked without caller_id paramter"%f.__name__)
+                _logger.error("%s invoked without caller_id parameter"%f.__name__)
                 return -1, "missing required caller_id parameter", error_return_value
             elif len(args) != f.__code__.co_argcount:
                 return -1, "Error: bad call arity", error_return_value

clients/rospy/src/rospy/impl/paramserver.py

@@ -96,11 +96,11 @@ def update(self, key, value):
             # partially borrowed from rosmaster/paramserver.py
             namespaces = [x for x in key.split(SEP) if x]
             # - last namespace is the actual key we're storing in
-            value_key = namespaces[-1]
-            namespaces = namespaces[:-1]
             d = self.d
             if d is None:
                 raise KeyError(key)
+            value_key = namespaces[-1]
+            namespaces = namespaces[:-1]
             # - descend tree to the node we're setting
             for ns in namespaces:
                 if ns not in d:

clients/rospy/src/rospy/impl/tcpros_base.py

@@ -263,7 +263,7 @@ class TCPROSServer(object):
 
     def __init__(self, port=0):
         """
-        Constructur
+        Constructor
         @param port: port number to bind to (default 0/any)
         @type  port: int
         """
@@ -314,7 +314,7 @@ def _tcp_server_callback(self, sock, client_addr):
         @type  sock: socket.socket
         @param client_addr: client address
         @type  client_addr: (str, int)
-        @raise TransportInitError: If transport cannot be succesfully initialized
+        @raise TransportInitError: If transport cannot be successfully initialized
         """
         #TODOXXX:rewrite this logic so it is possible to create TCPROSTransport object first, set its protocol,
         #and then use that to do the writing

clients/rospy/src/rospy/impl/tcpros_service.py

@@ -347,7 +347,7 @@ def _read_ok_byte(self, b, sock):
 
     def read_messages(self, b, msg_queue, sock):
         """
-        In service implementation, reads in OK byte that preceeds each
+        In service implementation, reads in OK byte that precedes each
         response. The OK byte allows for the passing of error messages
         instead of a response message
         @param b: buffer
@@ -403,7 +403,7 @@ def __init__(self, name, service_class, persistent=False, headers=None):
         @param persistent: (optional) if True, proxy maintains a persistent
         connection to service. While this results in better call
         performance, persistent connections are discouraged as they are
-        less resistent to network issues and service restarts.
+        less resistant to network issues and service restarts.
         @type  persistent: bool
         @param headers: (optional) arbitrary headers 
         @type  headers: dict

clients/rospy/src/rospy/msproxy.py

@@ -131,7 +131,13 @@ def __setitem__(self, key, val):
         @param val: parameter value
         @type val: XMLRPC legal value
         """
-        self.target.setParam(rospy.names.get_caller_id(), rospy.names.resolve_name(key), val)
+        resolved_key = rospy.names.resolve_name(key)
+
+        self.target.setParam(rospy.names.get_caller_id(), resolved_key, val)
+        try:
+            rospy.impl.paramserver.get_param_server_cache().update(resolved_key, val)
+        except KeyError:
+            pass
 
     def search_param(self, key):
         """

clients/rospy/src/rospy/rostime.py

@@ -49,7 +49,7 @@
 import genpy
 
 ## /time support. This hooks into the rospy Time representation and
-## allows it to be overriden with data from the /time topic.
+## allows it to be overridden with data from the /time topic.
 
 _rostime_initialized = False
 _rostime_current = None

clients/rospy/src/rospy/topics.py

@@ -420,7 +420,7 @@ def add_connection(self, c):
             # implementation) would be to start a thread that
             # regularly polls all fds, but that would create a lot of
             # synchronization events and also have a separate thread
-            # to manage.  It would be desireable to move to this, but
+            # to manage.  It would be desirable to move to this, but
             # this change is less impactful and keeps the codebase
             # more stable as we move towards an entirely different
             # event loop for rospy -- the heart of the problem is that
@@ -599,7 +599,7 @@ def unregister(self):
 
 class _SubscriberImpl(_TopicImpl):
     """
-    Underyling L{_TopicImpl} implementation for subscriptions.
+    Underlying L{_TopicImpl} implementation for subscriptions.
     """
     def __init__(self, name, data_class):
         """
@@ -889,7 +889,7 @@ def publish(self, *args, **kwds):
 
 class _PublisherImpl(_TopicImpl):
     """
-    Underyling L{_TopicImpl} implementation for publishers.
+    Underlying L{_TopicImpl} implementation for publishers.
     """
 
     def __init__(self, name, data_class):

clients/rospy/test_nodes/listener.py

@@ -48,7 +48,7 @@ def listener():
     # node are launched, the previous one is kicked off. The 
     # anonymous=True flag means that rospy will choose a unique
     # name for our 'talker' node so that multiple talkers can
-    # run simultaenously.
+    # run simultaneously.
     rospy.init_node('listener', anonymous=True)
 
     rospy.Subscriber("chatter", String, callback)

ros_comm/package.xml

@@ -4,7 +4,9 @@
   <description>
     ROS communications-related packages, including core client libraries (roscpp, rospy) and graph introspection tools (rostopic, rosnode, rosservice, rosparam).
   </description>
-  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>
+  <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
+  <maintainer email="sloretz@openrobotics.org">Shane Loretz</maintainer>
   <license>BSD</license>
 
   <url>http://wiki.ros.org/ros_comm</url>
@@ -20,6 +22,7 @@
   <author email="bhaskara@willowgarage.com">Bhaskara Marthi</author>
   <author email="straszheim@willowgarage.com">Troy Straszheim</author>
   <author email="wheeler@willowgarage.com">Rob Wheeler</author>
+  <author email="dthomas@osrfoundation.org">Dirk Thomas</author>
 
   <buildtool_depend>catkin</buildtool_depend>
 

test/test_rosbag/CMakeLists.txt

@@ -50,6 +50,8 @@ if(CATKIN_ENABLE_TESTING)
   add_rostest(${PROJECT_BINARY_DIR}/test/latched_sub.test)
   add_rostest(test/record_two_publishers.test)
   add_rostest(test/record_one_publisher_two_topics.test)
+  add_rostest(test/record_sigint_cleanup.test)
+  add_rostest(test/record_sigterm_cleanup.test)
 
   include_directories(${GTEST_INCLUDE_DIRS})
   add_executable(double_pub EXCLUDE_FROM_ALL test/double_pub.cpp)

test/test_rosbag/bag_migration_tests/README.md

@@ -18,7 +18,7 @@ $ source devel_isolated/test_rosbag/setup.bash
 
 ## Generate Data
 
-The **generate_data** script generates *.bag* data files for one or multiple messsage generations. The output directory is the **bag_migration_tests/test** folder inside the **test_rosbag** package. It's the user responsability to move the output *.bag* files to an HTTP server and download them from the **CMakeLists.txt** file as in this example:
+The **generate_data** script generates *.bag* data files for one or multiple messsage generations. The output directory is the **bag_migration_tests/test** folder inside the **test_rosbag** package. It's the user responsibility to move the output *.bag* files to an HTTP server and download them from the **CMakeLists.txt** file as in this example:
 
 ``` cmake
 catkin_download_test_data(download_data_test_constants_gen1.bag http://download.ros.org/data/test_rosbag/constants_gen1.bag FILENAME test/constants_gen1.bag MD5 77ec8cb20e823ee3f3a87d07ea1132df )

test/test_rosbag/package.xml

@@ -8,7 +8,9 @@
   <description>
     A package containing the unit tests for rosbag.
   </description>
-  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
+  <maintainer email="jacob@openrobotics.org">Jacob Perron</maintainer>
+  <maintainer email="michael@openrobotics.org">Michael Carroll</maintainer>
+  <maintainer email="sloretz@openrobotics.org">Shane Loretz</maintainer>
   <license>BSD</license>
 
   <url type="website">http://wiki.ros.org/rosbag</url>
@@ -17,6 +19,7 @@
   <author>Tim Field</author>
   <author>Jeremy Leibs</author>
   <author>James Bowman</author>
+  <author email="dthomas@osrfoundation.org">Dirk Thomas</author>
 
   <depend>rosbag</depend>
   <depend>rostest</depend>