Services post api review #11

esteve · 2015-03-06T23:54:59Z

This branch adds support for services in rclcpp. The big changes are:

Use the C API functions
Whenever there's a request_header in a function (e.g. rmw_take_request), it'll come before the rest of the data. This makes the order of the arguments uniform across all the API funcions, so "metadata" (request_header) will come first and the actual data (request, response).

Fixes #8

…eview

wjwwood · 2015-03-07T00:46:02Z

+1

dirk-thomas · 2015-03-07T00:47:58Z

rclcpp/include/rclcpp/client.hpp

@@ -67,7 +67,8 @@ class ClientBase

  virtual std::shared_ptr<void> create_response() = 0;
  virtual std::shared_ptr<void> create_request_header() = 0;
-  virtual void handle_response(std::shared_ptr<void> &response, std::shared_ptr<void> &req_id) = 0;
+  virtual void handle_response(std::shared_ptr<void> &request_header,
+                               std::shared_ptr<void> &response) = 0;


We really need to settle on the code style. I dislike this indentation so much...

I'm neutral about this, though. But I'd be more than happy if there's a code style and we all follow it.

Most of the code styles are not specific about how to deal with this particular case. I guess you would prefer:

virtual void handle_response( a, b) = 0;

Or

virtual void handle_response( a, b ) = 0;

Something else?

tfoote · 2015-03-07T01:17:08Z

+1

esteve · 2015-03-07T01:18:58Z

Thank you all for the reviews, I'll merge this once all of the pull requests for ros2/rmw_connext#3 are merged.

Add support for services in rclcpp

When undeclaring a parameter, the current implementation acccesses already freed memory. This commit contains the minimal change to solve this isue. Before this fix: Running main() from ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc Note: Google Test filter = TestNode.set_parameter_undeclared_parameters_not_allowed [==========] Running 1 test from 1 test case. [----------] Global test environment set-up. [----------] 1 test from TestNode [ RUN ] TestNode.set_parameter_undeclared_parameters_not_allowed ================================================================= ==14634==ERROR: AddressSanitizer: heap-use-after-free on address 0x614000008070 at pc 0x7f90d5eb2733 bp 0x7ffc79e38d00 sp 0x7ffc79e384a8 READ of size 12 at 0x614000008070 thread T0 #0 0x7f90d5eb2732 (/usr/lib/x86_64-linux-gnu/libasan.so.4+0x79732) #1 0x555823664ce8 in void std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >::_M_construct<char*>(char*, char*, std::forward_iterator_tag) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xface8) #2 0x7f90d57c70d3 in rclcpp::Parameter::Parameter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/parameter.cpp:49 #3 0x7f90d577fbe6 in rclcpp::node_interfaces::NodeParameters::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:499 #4 0x7f90d573d8b9 in rclcpp::Node::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:271 #5 0x7f90d573d4ac in rclcpp::Node::set_parameter(rclcpp::Parameter const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:259 #6 0x5558235e1c0d in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:694 #7 0x5558236fc2cf in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 #8 0x5558236eed3b in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#9 0x55582369c94b in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522 ros2#10 0x55582369dd76 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703 ros2#11 0x55582369e91a in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825 ros2#12 0x5558236b9a2b in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216 ros2#13 0x5558236fed74 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 ros2#14 0x5558236f1004 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#15 0x5558236b67bf in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824 ros2#16 0x555823689d0e in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370 ros2#17 0x555823689c54 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36 ros2#18 0x7f90d4768b96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96) ros2#19 0x5558235b07d9 in _start (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0x467d9) 0x614000008070 is located 48 bytes inside of 416-byte region [0x614000008040,0x6140000081e0) freed by thread T0 here: #0 0x7f90d5f1a2d0 in operator delete(void*) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe12d0) #1 0x7f90d57abd0f in __gnu_cxx::new_allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::deallocate(std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*, unsigned long) /usr/include/c++/7/ext/new_allocator.h:125 #2 0x7f90d57a8908 in std::allocator_traits<std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > > >::deallocate(std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >&, std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*, unsigned long) /usr/include/c++/7/bits/alloc_traits.h:462 #3 0x7f90d57a133c in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_put_node(std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*) /usr/include/c++/7/bits/stl_tree.h:592 #4 0x7f90d5796abd in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_drop_node(std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >*) /usr/include/c++/7/bits/stl_tree.h:659 #5 0x7f90d579d3d4 in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_erase_aux(std::_Rb_tree_const_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >) /usr/include/c++/7/bits/stl_tree.h:2477 #6 0x7f90d5792213 in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::erase[abi:cxx11](std::_Rb_tree_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >) /usr/include/c++/7/bits/stl_tree.h:1125 #7 0x7f90d5789f68 in std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::node_interfaces::ParameterInfo, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::erase[abi:cxx11](std::_Rb_tree_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x491f68) #8 0x7f90d577fb2a in rclcpp::node_interfaces::NodeParameters::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:497 ros2#9 0x7f90d573d8b9 in rclcpp::Node::set_parameters_atomically(std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:271 ros2#10 0x7f90d573d4ac in rclcpp::Node::set_parameter(rclcpp::Parameter const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:259 ros2#11 0x5558235e1c0d in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:694 ros2#12 0x5558236fc2cf in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 ros2#13 0x5558236eed3b in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#14 0x55582369c94b in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522 ros2#15 0x55582369dd76 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703 ros2#16 0x55582369e91a in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825 ros2#17 0x5558236b9a2b in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216 ros2#18 0x5558236fed74 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 ros2#19 0x5558236f1004 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#20 0x5558236b67bf in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824 ros2#21 0x555823689d0e in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370 ros2#22 0x555823689c54 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36 ros2#23 0x7f90d4768b96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96) previously allocated by thread T0 here: #0 0x7f90d5f19458 in operator new(unsigned long) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe0458) #1 0x7f90d57aceba in __gnu_cxx::new_allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::allocate(unsigned long, void const*) /usr/include/c++/7/ext/new_allocator.h:111 #2 0x7f90d57a9c4c in std::allocator_traits<std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > > >::allocate(std::allocator<std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >&, unsigned long) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x4b1c4c) #3 0x7f90d57a3f6e in std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_get_node() (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x4abf6e) #4 0x7f90d5799770 in std::_Rb_tree_node<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >* std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_create_node<std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>, std::tuple<> >(std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>&&, std::tuple<>&&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/install-asan/rclcpp/lib/librclcpp.so+0x4a1770) #5 0x7f90d578f382 in std::_Rb_tree_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > std::_Rb_tree<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo>, std::_Select1st<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::_M_emplace_hint_unique<std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>, std::tuple<> >(std::_Rb_tree_const_iterator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> >, std::piecewise_construct_t const&, std::tuple<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&>&&, std::tuple<>&&) /usr/include/c++/7/bits/stl_tree.h:2398 #6 0x7f90d5788eba in std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::node_interfaces::ParameterInfo, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >::operator[](std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) /usr/include/c++/7/bits/stl_map.h:493 #7 0x7f90d577bc88 in __declare_parameter_common(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::node_interfaces::ParameterInfo, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::node_interfaces::ParameterInfo> > >&, std::map<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::ParameterValue, std::less<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, rclcpp::ParameterValue> > > const&, std::function<rcl_interfaces::msg::SetParametersResult_<std::allocator<void> > (std::vector<rclcpp::Parameter, std::allocator<rclcpp::Parameter> > const&)>, rcl_interfaces::msg::ParameterEvent_<std::allocator<void> >*) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:250 #8 0x7f90d577c4f7 in rclcpp::node_interfaces::NodeParameters::declare_parameter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp:287 ros2#9 0x7f90d573d1ec in rclcpp::Node::declare_parameter(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::ParameterValue const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:241 ros2#10 0x555823645b6b in auto rclcpp::Node::declare_parameter<int>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, int const&, rcl_interfaces::msg::ParameterDescriptor_<std::allocator<void> > const&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xdbb6b) ros2#11 0x5558235e14ee in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:689 ros2#12 0x5558236fc2cf in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 ros2#13 0x5558236eed3b in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#14 0x55582369c94b in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522 ros2#15 0x55582369dd76 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703 ros2#16 0x55582369e91a in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825 ros2#17 0x5558236b9a2b in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216 ros2#18 0x5558236fed74 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 ros2#19 0x5558236f1004 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#20 0x5558236b67bf in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824 ros2#21 0x555823689d0e in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370 ros2#22 0x555823689c54 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36 ros2#23 0x7f90d4768b96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96) SUMMARY: AddressSanitizer: heap-use-after-free (/usr/lib/x86_64-linux-gnu/libasan.so.4+0x79732) Shadow bytes around the buggy address: 0x0c287fff8fb0: 00 00 00 00 00 00 00 00 00 00 00 00 fa fa fa fa 0x0c287fff8fc0: fa fa fa fa fa fa fa fa fd fd fd fd fd fd fd fd 0x0c287fff8fd0: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd 0x0c287fff8fe0: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd 0x0c287fff8ff0: fd fd fd fd fd fd fd fd fd fd fd fd fa fa fa fa =>0x0c287fff9000: fa fa fa fa fa fa fa fa fd fd fd fd fd fd[fd]fd 0x0c287fff9010: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd 0x0c287fff9020: fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd fd 0x0c287fff9030: fd fd fd fd fd fd fd fd fd fd fd fd fa fa fa fa 0x0c287fff9040: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa 0x0c287fff9050: fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa fa Shadow byte legend (one shadow byte represents 8 application bytes): Addressable: 00 Partially addressable: 01 02 03 04 05 06 07 Heap left redzone: fa Freed heap region: fd Stack left redzone: f1 Stack mid redzone: f2 Stack right redzone: f3 Stack after return: f5 Stack use after scope: f8 Global redzone: f9 Global init order: f6 Poisoned by user: f7 Container overflow: fc Array cookie: ac Intra object redzone: bb ASan internal: fe Left alloca redzone: ca Right alloca redzone: cb ==14634==ABORTING After this fix: Running main() from ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc Note: Google Test filter = TestNode.set_parameter_undeclared_parameters_not_allowed [==========] Running 1 test from 1 test case. [----------] Global test environment set-up. [----------] 1 test from TestNode [ RUN ] TestNode.set_parameter_undeclared_parameters_not_allowed [ OK ] TestNode.set_parameter_undeclared_parameters_not_allowed (51 ms) [----------] 1 test from TestNode (51 ms total) [----------] Global test environment tear-down [==========] 1 test from 1 test case ran. (51 ms total) [ PASSED ] 1 test. ================================================================= ==8511==ERROR: LeakSanitizer: detected memory leaks Direct leak of 64 byte(s) in 1 object(s) allocated from: #0 0x7f49af480458 in operator new(unsigned long) (/usr/lib/x86_64-linux-gnu/libasan.so.4+0xe0458) #1 0x7f49aecb6b21 in rclcpp::NodeOptions::get_rcl_node_options() const ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node_options.cpp:84 #2 0x7f49aeca1e63 in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:115 #3 0x7f49aeca1a34 in rclcpp::Node::Node(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, rclcpp::NodeOptions const&) ../../src/ros2/rclcpp/rclcpp/src/rclcpp/node.cpp:103 #4 0x55ee8e2e4473 in void __gnu_cxx::new_allocator<rclcpp::Node>::construct<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_no de+0x10e473) #5 0x55ee8e2de58f in void std::allocator_traits<std::allocator<rclcpp::Node> >::construct<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::allocator<rclcpp::Node>&, rclcpp::Node*, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.C OM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0x10858f) #6 0x55ee8e2da516 in std::_Sp_counted_ptr_inplace<rclcpp::Node, std::allocator<rclcpp::Node>, (__gnu_cxx::_Lock_policy)2>::_Sp_counted_ptr_inplace<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOp tions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0x104516) #7 0x55ee8e2d25b2 in std::__shared_count<(__gnu_cxx::_Lock_policy)2>::__shared_count<rclcpp::Node, std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::_Sp_make_shared_tag, rclcpp::Node*, std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::alloc ator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xfc5b2) #8 0x55ee8e2c84da in std::__shared_ptr<rclcpp::Node, (__gnu_cxx::_Lock_policy)2>::__shared_ptr<std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::_Sp_make_shared_tag, std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rcl cpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xf24da) ros2#9 0x55ee8e2bfd60 in std::shared_ptr<rclcpp::Node>::shared_ptr<std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::_Sp_make_shared_tag, std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AM AZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xe9d60) ros2#10 0x55ee8e2b6b18 in std::shared_ptr<rclcpp::Node> std::allocate_shared<rclcpp::Node, std::allocator<rclcpp::Node>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::allocator<rclcpp::Node> const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZ ON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xe0b18) ros2#11 0x55ee8e2ad89e in std::shared_ptr<rclcpp::Node> std::make_shared<rclcpp::Node, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, rclcpp::NodeOptions&>(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&, rclcpp::NodeOptions&) (/home/ANT.AMAZON.COM/tmoulard/ros2_ws/build-asan/rclcpp/test_node+0xd789e) ros2#12 0x55ee8e245438 in TestNode_set_parameter_undeclared_parameters_not_allowed_Test::TestBody() ../../src/ros2/rclcpp/rclcpp/test/test_node.cpp:607 ros2#13 0x55ee8e35d111 in void testing::internal::HandleSehExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 ros2#14 0x55ee8e34fb7d in void testing::internal::HandleExceptionsInMethodIfSupported<testing::Test, void>(testing::Test*, void (testing::Test::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#15 0x55ee8e2fd78d in testing::Test::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2522 ros2#16 0x55ee8e2febb8 in testing::TestInfo::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2703 ros2#17 0x55ee8e2ff75c in testing::TestCase::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2825 ros2#18 0x55ee8e31a86d in testing::internal::UnitTestImpl::RunAllTests() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:5216 ros2#19 0x55ee8e35fbb6 in bool testing::internal::HandleSehExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2447 ros2#20 0x55ee8e351e46 in bool testing::internal::HandleExceptionsInMethodIfSupported<testing::internal::UnitTestImpl, bool>(testing::internal::UnitTestImpl*, bool (testing::internal::UnitTestImpl::*)(), char const*) ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:2483 ros2#21 0x55ee8e317601 in testing::UnitTest::Run() ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest.cc:4824 ros2#22 0x55ee8e2eab50 in RUN_ALL_TESTS() ../../../install-asan/gtest_vendor/src/gtest_vendor/include/gtest/gtest.h:2370 ros2#23 0x55ee8e2eaa96 in main ../../../install-asan/gtest_vendor/src/gtest_vendor/src/gtest_main.cc:36 ros2#24 0x7f49adccfb96 in __libc_start_main (/lib/x86_64-linux-gnu/libc.so.6+0x21b96) SUMMARY: AddressSanitizer: 64 byte(s) leaked in 1 allocation(s). Note: after this fix, get_rcl_node_options() still leak. This is a problem independent from this issue and will be solved independently. Signed-off-by: Thomas Moulard <tmoulard@amazon.com>

…ecutor Support events

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

Fixed image tools issues Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> Fix linting. (ros2#12) Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> Fix the test for any_subscription_callback. (ros2#13) In particular, change it so that the tests for TypeAdaptation with any_subscription_callback always pass the custom type to dispatch_intra_process(). That means that when using TypeAdaptation, it is not possible to call dispatch_intra_process() with the ROS message type. But since this is a low-level interface, this should be fine; the public-facing APIs handle this case for us. This also requires us to remove the test for inter-process publishing with type adaptation. That's because we didn't change the signature of AnySubscriptionCallback::dispath() to take in the custom type, so it always expects the ROS message type. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> Reenable the test_intra_process* tests. (ros2#14) Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> Remove debugging print statements. (ros2#11) Signed-off-by: Chris Lalancette <clalancette@openrobotics.org> Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

allow fail of custom domain id on Win/OpenSplice

Esteve Fernandez added 3 commits March 6, 2015 12:11

Added support for RTI Connext services. Update rmw_take* signatures

9daec00

Merge remote-tracking branch 'origin/master' into services-post-api-r…

858671a

…eview

Fix order of parameters

bb8cad7

esteve added the in progress Actively being worked on (Kanban column) label Mar 6, 2015

dirk-thomas reviewed Mar 7, 2015
View reviewed changes

esteve added a commit that referenced this pull request Mar 9, 2015

Merge pull request #11 from ros2/services-post-api-review

3dae09f

Add support for services in rclcpp

esteve merged commit 3dae09f into master Mar 9, 2015

esteve removed the in progress Actively being worked on (Kanban column) label Mar 9, 2015

esteve deleted the services-post-api-review branch March 9, 2015 19:01

charlotteheggem mentioned this pull request May 28, 2020

Rclcpp clock problems #1144

Closed

hidmic mentioned this pull request Jun 26, 2020

Fix pub/sub count API tests. #1203

Merged

mauropasse pushed a commit to mauropasse/rclcpp that referenced this pull request Oct 14, 2020

Merge pull request ros2#11 from mauropasse/mauro-irobot/add-events-ex…

ab92918

…ecutor Support events

BaiCai1990 mentioned this pull request Jan 23, 2021

rclcpp::spin_some(node) Occasionally crash. #1524

Closed

clalancette added a commit to clalancette/rclcpp that referenced this pull request Dec 14, 2021

Remove debugging print statements. (ros2#11)

b159988

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>

nnmm pushed a commit to ApexAI/rclcpp that referenced this pull request Jul 9, 2022

Merge pull request ros2#11 from ros2/fix_test_node_on_windows

2e5ee42

allow fail of custom domain id on Win/OpenSplice

firesurfer mentioned this pull request May 15, 2024

fix: Fixed race condition in action server between is_ready and take"… #2531

Merged

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Services post api review #11

Services post api review #11

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esteve commented Mar 7, 2015

Services post api review #11

Services post api review #11

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