Service introspection #1985
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Service introspection #1985
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jacobperron
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rclcpp/src/rclcpp/node_interfaces/node_service_introspection.cpp
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This has been substantially rewritten now, so I'm going to dismiss all of the review comments, and pull this out of draft. |
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mjcarroll
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Feb 24, 2023
Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
To do this, we add a new method on the Client and Service classes that allows the user to change the introspection method at runtime. These end up calling into the rcl layer to do the actual configuration, at which point service introspection messages will be sent as configured. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Signed-off-by: Chris Lalancette <clalancette@gmail.com>
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mjcarroll
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Feb 27, 2023
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CI for this is in ros2/ros2#1285 (comment) |
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This PR is part of a prototype implementation for ros-infrastructure/rep#360 ros2/ros2#1285.
Depends on: ros2/rcl#997