Implement Unified Node Interface (NodeInterfaces class) #2041

methylDragon · 2022-11-03T06:56:57Z

Finally a longstanding quibble about Nodes and LifecycleNodes and node interfaces has a potential resolution.

Description

This PR introduces the concept of a NodeInterfaces class (that is, a unified adapter for any disparate collection of unique kinds of NodeInterfaces) that allows you to package interfaces into a single object. This is inspired by #831.

This allows you to write functions that take in a single object instead of a collection of node interfaces (or instead of a templated function...), and also supports both Nodes and LifecycleNodes, allowing you to quickly swap any place where you originally passed a Node with a NodeInterfaces. This also means that the issue where Nodes and LifecycleNodes exist on separate inheritance trees can be mitigated a little by using this as a bridging class.

What's more, the template parameters allow you to select which interfaces are made available, and also can serve as type hints to downstream users for which interfaces a function requires.

Additionally, you can aggregate interfaces from different nodes (or mocked interfaces) too, which isn't something you could trivially do if you made your function a template function that takes in a NodeT!

~~This PR also adds a new method for Nodes and LifecycleNodes to obtain their corresponding NodeInterfaces.~~

Tests have been implemented for ~~Nodes, LifecycleNodes, and~~ the NodeInterfaces template class itself.

Example

This is best explained with an example.

// Suppose we have some function:
void fn(NodeInterfaces<NodeBaseInterface, NodeClockInterface> interfaces);

// Then we can, explicitly:
rclcpp::Node node("some_node");
auto ni = NodeInterfaces<NodeBaseInterface, NodeClockInterface>(node);
fn(ni);

// But also, implicitly:
fn(node);

// Subsetting a NodeInterfaces object also works!
auto ni_base = NodeInterfaces<NodeBaseInterface>(ni);

// Or aggregate them (you could aggregate interfaces from disparate node-likes)
auto ni_aggregated = NodeInterfaces<NodeBaseInterface, NodeClockInterface>(
  node->get_node_base_interface(),
  node->get_node_clock_interface()
)

// And then to access the interfaces:
// Get with get<>
auto base = ni.get<NodeBaseInterface>();

// Or the appropriate getter
auto clock = ni.get_clock_interface();

For more info, read the docstring.

Why is this useful?

(Adapted from #831)

Before you would have to...

create_service(
  std::shared_ptr<NodeBaseInterface> node_base,
  std::shared_ptr<NodeServicesInterface> node_services,
  // ...

// User calls with
auto service = create_service(
  my_node_class->get_node_base_interface(),
  my_node_class->get_node_services_interface(),
...

But now you can:

create_service(
   NodeInterfaces<NodeBaseInterface, NodeServicesInterface> node_handle,
   // ...

// User calls with
auto service = create_service(
  NodeInterfaces<NodeBaseInterface, NodeServicesInterface>(my_node_or_lifecycle_node_class),
  // ...

And in fact, implicit conversions should work too!

// User calls with
auto service = create_service(my_node_or_lifecycle_node_class,
  // ...

// This doesn't support pointers, remember to dereference!
// See notes below!

// INCREDIBLE!

And just like that you can support both Nodes and LifecycleNodes!
This also serves as an easy drop-in replacement for any method that takes in an rclcpp::Node or similar shared pointer!

Why Not...

Why not

create_service(std::shared_ptr<rclcpp::Node> node);

?

Because

// This will NOT work. rclcpp_lifecycle::LifecycleNode and rclcpp::Node are on separate inheritance trees!
create_service(lifecycle_node);

Additional Notes

This uses C++14 compatible template metaprogramming constructs, for backportability. I'm pretty sure there are some C++17/C++20 constructs that would make the implementation more concise though.. For a future time.

EDIT: I realized that fold expressions are C++17... We'll have to find some workaround when backporting. (Actually so is is_same_v 🤦‍♂️ )

Addendum

Because of #2075 , the NodeInterfaces object only accepts non-pointer node-like types. You must dereference any pointer arguments to the NodeInterfaces constructor.

methylDragon · 2022-11-03T07:00:35Z

Only thing I'm unsure of if if I should leave the NodeT constructor for NodeHandle explicit.

If it's not explicit we can rely on implicit conversion to allow passing in Node-like objects directly into methods that take in NodeHandle arguments without needing to explicitly instantiate the NodeHandle.. (I think? Maybe the templates won't let that happen, in which case, the point is moot...)

methylDragon · 2022-11-03T07:12:01Z

Will build #11111 be the one???

Linux
Linux-aarch64
Windows

alsora · 2022-11-03T07:39:06Z

I like the overall idea.
However I have a couple of questions from looking at your examples.

It seems like there are multiple methods to retrieve each interface (e.g. base and get_node_base_interface), why is that?

Can we implement it in a way such that users can customize it? I.e. If I create a new node interface, I would like to add it there

methylDragon · 2022-11-03T09:05:40Z

I like the overall idea. However I have a couple of questions from looking at your examples.

It seems like there are multiple methods to retrieve each interface (e.g. base and get_node_base_interface), why is that?

Can we implement it in a way such that users can customize it? I.e. If I create a new node interface, I would like to add it there

It's already implemented in such a way that you can attach a custom interface to the NodeHandle! Just use set_node_XXX_interface(your_interface) or XXX(your_interface) and it'll overwrite/set the interface.

If you mean creating a new type of node interface, I'm not sure if it's possible (I'm already using quite a lot of template metaprogramming wizardry to achieve what we have at the moment...) And in that case, the nodes themselves need to be updated to support the interface, so at that point I'd just ask for a PR for those new interfaces to be added to the NodeHandle class.

The multiple ways for retrieving the interface are just for convenience (or typing less...) I was basing it off the issue over this PR was inspired by. More precisely, the shorter name is for convenience, while the longer name is supposed to use the same names as the node getters for node interfaces.

wjwwood

I'd also like to talk about the name of the new class NodeHandle. I think we should pick something else because really it's not a "handle" (we already have a rcl_node_handle_t which is actually a handle, i.e. an opaque object that is a stand in for another actual thing) and because we had a NodeHandle in ROS 1 which was something very different and that might cause confusion.

Ideally this whole class would be replaced with a constraint but we don't have access to that atm with C++17.

Some ideas from me:

NodeWithInterfaces<...>
- my_func(NodeWithInterface<...>) would read as "my_func takes a Node-like thing with the interfaces ..."
NodeWithRequiredInterfaces<...>
NodeInterfaces<...>
- invokes the idea of a collection of interfaces, which may or may not be misleading depending on how we end up implementing this class

rclcpp/include/rclcpp/node.hpp

rclcpp/include/rclcpp/node_handle.hpp

methylDragon · 2022-11-08T00:23:30Z

I'd also like to talk about the name of the new class NodeHandle. I think we should pick something else because really it's not a "handle" (we already have a rcl_node_handle_t which is actually a handle, i.e. an opaque object that is a stand in for another actual thing) and because we had a NodeHandle in ROS 1 which was something very different and that might cause confusion.

Ideally this whole class would be replaced with a constraint but we don't have access to that atm with C++17.

Some ideas from me:

NodeWithInterfaces<...>

my_func(NodeWithInterface<...>) would read as "my_func takes a Node-like thing with the interfaces ..."

NodeWithRequiredInterfaces<...>

NodeInterfaces<...>

invokes the idea of a collection of interfaces, which may or may not be misleading depending on how we end up implementing this class

How about NodeInterfaceHandle? (Since it's a handler for node interfaces, no matter where they come from). Otherwise, I'm fine with NodeInterfaces also, since this class is just supposed to be an aggregation of interfaces.

I'm less inclined towards the NodeWith... variants because it might confuse users and make them think it's a node as opposed to a node-like thing

methylDragon · 2022-11-09T08:09:01Z

@ros-pull-request-builder retest this please

ivanpauno

I think that something like this may be a good idea.
I have left one suggestion of how to implement it.

I think we have to thoroughly evaluate how this can be used in demos/examples, and double check if using the new "unified node interface" is beneficial.

rclcpp/include/rclcpp/node_handle.hpp

ivanpauno · 2022-11-09T13:16:04Z

I'd also like to talk about the name of the new class NodeHandle. I think we should pick something else because really it's not a "handle" (we already have a rcl_node_handle_t which is actually a handle, i.e. an opaque object that is a stand in for another actual thing) and because we had a NodeHandle in ROS 1 which was something very different and that might cause confusion.

+1
Of the proposed options, NodeInterfaces<...> seems nice to me.

methylDragon · 2022-11-10T06:51:19Z

I'd also like to talk about the name of the new class NodeHandle. I think we should pick something else because really it's not a "handle" (we already have a rcl_node_handle_t which is actually a handle, i.e. an opaque object that is a stand in for another actual thing) and because we had a NodeHandle in ROS 1 which was something very different and that might cause confusion.

+1 Of the proposed options, NodeInterfaces<...> seems nice to me.

@ivanpauno

Could I double-check that this +1 is over NodeInterfaceHandle (so +1 to NodeInterfaces even though NodeInterfaceHandle exists?) The multiple inheritance templated example you gave above used NodeInterfaceHandle 😬.

I'll change it to whichever you give the +1 to!

Also, what do you think about putting getters for this node interface aggregate onto Node and LifecycleNode?

methylDragon · 2022-11-10T08:19:33Z

I've updated the tests and moved everything to node_interfaces!

RPr is green!

Signed-off-by: methylDragon <methylDragon@gmail.com>

Signed-off-by: methylDragon <methylDragon@gmail.com> Co-authored-by: methylDragon <methylDragon@gmail.com>

wjwwood

lgtm, after checking on the compile-only test

rclcpp/test/rclcpp/CMakeLists.txt

Signed-off-by: methylDragon <methylDragon@gmail.com> Co-authored-by: methylDragon <methylDragon@gmail.com>

Crola1702 · 2023-01-02T14:20:10Z

Hey @methylDragon @wjwwood, this PR broke RHEL nightly builds when building rclcpp. Can you please take a look?:

RHEL Debug: https://ci.ros2.org/view/nightly/job/nightly_linux-rhel_debug/1371/consoleFull
RHEL Release: https://ci.ros2.org/view/nightly/job/nightly_linux-rhel_release/1370/consoleFull

Log output:

--- stderr: rclcpp
In file included from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp�[K:
/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp: In instantiation of ‘�[Krclcpp::node_interfaces::NodeInterfaces<InterfaceTs>::NodeInterfaces(std::shared_ptr<_Yp>) [with NodeT = rclcpp::Node; InterfaceTs = {rclcpp::node_interfaces::NodeBaseInterface, rclcpp::node_interfaces::NodeGraphInterfac�[K’:
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp:47:�[K   required from here
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp:153:��[Kerro�[Kuse of deleted functio�[Krclcpp::Node::Node(const rclcpp::Nod�[K’
   : NodeInterfaces(�[Knode ? *node : throw std::invalid_argument("given node pointer is nullpt�[K)
                    �[K~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~�[K
In file included from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/context.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/utilities.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/build/rclcpp/include/rclcpp/logging.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/client.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/callback_group.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp�[K:
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node.hpp:1578:��[Knot�[Kdeclared here
   RCLCPP_DISABLE_COPY(�[KN�[K)
                       �[K^�[K
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/macros.hpp:27��[Knot�[Kin definition of macr�[KRCLCPP_DISABLE_C�[K’
   �[K__VA_ARG�[K(const __VA_ARGS__ &) = delete; \
   �[K^~~~~~~~�[K
In file included from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp�[K:
/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp: In instantiation of ‘�[Krclcpp::node_interfaces::NodeInterfaces<InterfaceTs>::NodeInterfaces(std::shared_ptr<_Yp>) [with NodeT = rclcpp::Node; InterfaceTs = {rclcpp::node_interfaces::NodeBaseInterfac�[K’:
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp:58:�[K   required from here
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp:153:��[Kerro�[Kuse of deleted functio�[Krclcpp::Node::Node(const rclcpp::Nod�[K’
   : NodeInterfaces(�[Knode ? *node : throw std::invalid_argument("given node pointer is nullpt�[K)
                    �[K~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~�[K
In file included from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/context.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/utilities.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/build/rclcpp/include/rclcpp/logging.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/client.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/callback_group.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp�[K:
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node.hpp:1578:��[Knot�[Kdeclared here
   RCLCPP_DISABLE_COPY(�[KN�[K)
                       �[K^�[K
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/macros.hpp:27��[Knot�[Kin definition of macr�[KRCLCPP_DISABLE_C�[K’
   �[K__VA_ARG�[K(const __VA_ARGS__ &) = delete; \
   �[K^~~~~~~~�[K
In file included from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp�[K:
/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp: In instantiation of ‘�[Krclcpp::node_interfaces::NodeInterfaces<InterfaceTs>::NodeInterfaces(std::shared_ptr<_Yp>) [with NodeT = rclcpp::Node; InterfaceTs = {rclcpp::node_interfaces::NodeBaseInterface, rclcpp::node_interfaces::NodeClockInterface, rclcpp::node_interfaces::NodeGraphInterface, rclcpp::node_interfaces::NodeLoggingInterface, rclcpp::node_interfaces::NodeTimersInterface, rclcpp::node_interfaces::NodeTopicsInterface, rclcpp::node_interfaces::NodeServicesInterface, rclcpp::node_interfaces::NodeWaitablesInterface, rclcpp::node_interfaces::NodeParametersInterface, rclcpp::node_interfaces::NodeTimeSourceInterfac�[K’:
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp:105:�[K   required from here
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp:153:��[Kerro�[Kuse of deleted functio�[Krclcpp::Node::Node(const rclcpp::Nod�[K’
   : NodeInterfaces(�[Knode ? *node : throw std::invalid_argument("given node pointer is nullpt�[K)
                    �[K~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~�[K
In file included from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/context.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/utilities.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/build/rclcpp/include/rclcpp/logging.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/client.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/callback_group.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp�[K:
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node.hpp:1578:��[Knot�[Kdeclared here
   RCLCPP_DISABLE_COPY(�[KN�[K)
                       �[K^�[K
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/macros.hpp:27��[Knot�[Kin definition of macr�[KRCLCPP_DISABLE_C�[K’
   �[K__VA_ARG�[K(const __VA_ARGS__ &) = delete; \
   �[K^~~~~~~~�[K
In file included from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp�[K:
/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp: In instantiation of ‘�[Krclcpp::node_interfaces::NodeInterfaces<InterfaceTs>::NodeInterfaces(std::shared_ptr<_Yp>) [with NodeT = rclcpp::Node; InterfaceTs = {rclcpp::node_interfaces::NodeBaseInterface, rclcpp::node_interfaces::NodeClockInterface, rclcpp::node_interfaces::NodeGraphInterface, rclcpp::node_interfaces::NodeLoggingInterface, rclcpp::node_interfaces::NodeParametersInterface, rclcpp::node_interfaces::NodeServicesInterface, rclcpp::node_interfaces::NodeTimeSourceInterface, rclcpp::node_interfaces::NodeTimersInterface, rclcpp::node_interfaces::NodeTopicsInterface, rclcpp::node_interfaces::NodeWaitablesInterfac�[K’:
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp:201:�[K   required from here
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node_interfaces/node_interfaces.hpp:153:��[Kerro�[Kuse of deleted functio�[Krclcpp::Node::Node(const rclcpp::Nod�[K’
   : NodeInterfaces(�[Knode ? *node : throw std::invalid_argument("given node pointer is nullpt�[K)
                    �[K~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~�[K
In file included from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/context.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/utilities.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/build/rclcpp/include/rclcpp/logging.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/client.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/callback_group.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node.hpp�[K,
                 from �[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/test/rclcpp/node_interfaces/test_node_interfaces.cpp�[K:
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/node.hpp:1578:��[Knot�[Kdeclared here
   RCLCPP_DISABLE_COPY(�[KN�[K)
                       �[K^�[K
�[K/home/jenkins-agent/workspace/nightly_linux-rhel_debug/ws/src/ros2/rclcpp/rclcpp/include/rclcpp/macros.hpp:27��[Knot�[Kin definition of macr�[KRCLCPP_DISABLE_C�[K’
   �[K__VA_ARG�[K(const __VA_ARGS__ &) = delete; \
   �[K^~~~~~~~�[K
gmake[2]: *** [test/rclcpp/CMakeFiles/test_node_interfaces__node_interfaces.dir/build.make:76: test/rclcpp/CMakeFiles/test_node_interfaces__node_interfaces.dir/node_interfaces/test_node_interfaces.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:2943: test/rclcpp/CMakeFiles/test_node_interfaces__node_interfaces.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2

I notice:

node_interfaces.hpp:153: use of deleted function

methylDragon · 2023-01-02T19:47:53Z

@Crola1702 I'm looking at it!

methylDragon · 2023-01-27T15:45:20Z

Hey @methylDragon @wjwwood, this PR broke RHEL nightly builds when building rclcpp. Can you please take a look?:

RHEL Debug: https://ci.ros2.org/view/nightly/job/nightly_linux-rhel_debug/1371/consoleFull

RHEL Release: https://ci.ros2.org/view/nightly/job/nightly_linux-rhel_release/1370/consoleFull

Log output:

I notice:

node_interfaces.hpp:153: use of deleted function

Noting that this was fixed in

Add in a fix for older compilers. #2075

methylDragon requested a review from sloretz November 3, 2022 06:56

methylDragon changed the title ~~Implement Unified NodeInterface (NodeHandle)~~ Implement Unified Node Interface (NodeHandle) Nov 3, 2022

methylDragon force-pushed the ch3/node-handle branch 6 times, most recently from 1a6b388 to 3ac067b Compare November 3, 2022 20:25

methylDragon mentioned this pull request Nov 3, 2022

fuse -> ROS 2 : Port Logging locusrobotics/fuse#279

Merged

methylDragon force-pushed the ch3/node-handle branch from 3ac067b to 7e32191 Compare November 3, 2022 21:08

wjwwood reviewed Nov 7, 2022

View reviewed changes

methylDragon force-pushed the ch3/node-handle branch 2 times, most recently from 9be3912 to 6734ecf Compare November 8, 2022 01:04

methylDragon mentioned this pull request Nov 8, 2022

fuse -> ROS 2 fuse_core : Nodes and Waitables locusrobotics/fuse#284

Merged

methylDragon force-pushed the ch3/node-handle branch from 9503d98 to e6a67eb Compare November 8, 2022 20:11

methylDragon requested review from ivanpauno and hidmic as code owners November 8, 2022 20:11

ivanpauno reviewed Nov 9, 2022

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rclcpp/include/rclcpp/node_handle.hpp Outdated Show resolved Hide resolved

methylDragon force-pushed the ch3/node-handle branch 2 times, most recently from 03aed20 to 9e675d9 Compare November 10, 2022 08:13

methylDragon force-pushed the ch3/node-handle branch from 9e675d9 to 3ef3c5d Compare November 10, 2022 08:32

methylDragon and others added 9 commits December 28, 2022 15:35

Fix tests and linters

5fb2f95

Signed-off-by: methylDragon <methylDragon@gmail.com>

Rename to NodeInterfaces and make constructor implicit

31bbe74

Signed-off-by: methylDragon <methylDragon@gmail.com>

Update docs

44f3b20

Signed-off-by: methylDragon <methylDragon@gmail.com>

Implement shared_ptr constructors and refine const

ba7a159

Signed-off-by: methylDragon <methylDragon@gmail.com>

Implement non-mutable NodeInterfaces

7dabad9

Signed-off-by: methylDragon <methylDragon@gmail.com>

refactor to use a std::tuple and be immutable (#1)

8657fd1

Signed-off-by: methylDragon <methylDragon@gmail.com> Co-authored-by: methylDragon <methylDragon@gmail.com>

Update tests, add docstrings, and update lifecycle nodes

0257c79

Signed-off-by: methylDragon <methylDragon@gmail.com> Co-authored-by: methylDragon <methylDragon@gmail.com>

Update tests

ce29db1

Signed-off-by: methylDragon <methylDragon@gmail.com> Co-authored-by: methylDragon <methylDragon@gmail.com>

Attempt to fix template fold expression

c688476

Signed-off-by: methylDragon <methylDragon@gmail.com> Co-authored-by: methylDragon <methylDragon@gmail.com>

methylDragon force-pushed the ch3/node-handle branch from 0fd3242 to dce078b Compare December 28, 2022 23:41

Refine package

cf31bb8

Signed-off-by: methylDragon <methylDragon@gmail.com> Co-authored-by: methylDragon <methylDragon@gmail.com>

methylDragon force-pushed the ch3/node-handle branch from dce078b to cf31bb8 Compare December 28, 2022 23:57

methylDragon requested a review from wjwwood December 28, 2022 23:57

wjwwood approved these changes Dec 29, 2022

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rclcpp/test/rclcpp/CMakeLists.txt Outdated Show resolved Hide resolved

methylDragon force-pushed the ch3/node-handle branch 3 times, most recently from 469be6f to 57335a0 Compare December 29, 2022 01:03

Implement ALL_RCLCPP_NODE_INTERFACES

fa69bf1

Signed-off-by: methylDragon <methylDragon@gmail.com> Co-authored-by: methylDragon <methylDragon@gmail.com>

methylDragon force-pushed the ch3/node-handle branch from 57335a0 to fa69bf1 Compare December 29, 2022 01:10

methylDragon merged commit a73e0bd into ros2:rolling Dec 29, 2022

methylDragon deleted the ch3/node-handle branch December 29, 2022 01:59

This was referenced Jan 27, 2023

[api review] Calling Syntax and Keeping Node-like Class APIs in Sync #1259

Open

Prevent API gaps between Node and LifecycleNode #898

Open

methylDragon mentioned this pull request Jan 27, 2023

Proposal for NodeHandle concept that simplifies calling APIs with node-like objects #831

Closed

alsora mentioned this pull request Sep 12, 2023

Adding API to copy all parameters from one node to another #2304

Merged

BrettRD mentioned this pull request Sep 13, 2023

Backport request - Unified NodeInterfaces in Humble #2309

Open

methylDragon mentioned this pull request Jun 29, 2024

Instead of templating on NodeT, use rclcpp::node_interfaces::NodeInterfaces instead ros2/geometry2#698

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Implement Unified Node Interface (NodeInterfaces class) #2041

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Implement Unified Node Interface (NodeInterfaces class) #2041

Implement Unified Node Interface (NodeInterfaces class) #2041

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