diff --git a/rclcpp/CHANGELOG.rst b/rclcpp/CHANGELOG.rst index ba690c6d24..75185ede87 100644 --- a/rclcpp/CHANGELOG.rst +++ b/rclcpp/CHANGELOG.rst @@ -2,6 +2,16 @@ Changelog for package rclcpp ^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +23.1.0 (2023-10-04) +------------------- +* Add locking to protect the TimeSource::NodeState::node_base\_ (`#2320 `_) +* Update SignalHandler get_global_signal_handler to avoid complex types in static memory (`#2316 `_) +* Removing Old Connext Tests (`#2313 `_) +* Documentation for list_parameters (`#2315 `_) +* Decouple rosout publisher init from node init. (`#2174 `_) +* fix the depth to relative in list_parameters (`#2300 `_) +* Contributors: Chris Lalancette, Lucas Wendland, Minju, Lee, Tomoya Fujita, Tully Foote + 23.0.0 (2023-09-08) ------------------- * Fix the return type of Rate::period. (`#2301 `_) diff --git a/rclcpp/include/rclcpp/copy_all_parameter_values.hpp b/rclcpp/include/rclcpp/copy_all_parameter_values.hpp new file mode 100644 index 0000000000..cc61b621e1 --- /dev/null +++ b/rclcpp/include/rclcpp/copy_all_parameter_values.hpp @@ -0,0 +1,82 @@ +// Copyright 2023 Open Navigation LLC +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_ +#define RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_ + +#include +#include + +#include "rcl_interfaces/srv/list_parameters.hpp" +#include "rcl_interfaces/msg/parameter_descriptor.hpp" +#include "rcl_interfaces/msg/set_parameters_result.hpp" + +#include "rclcpp/parameter.hpp" +#include "rclcpp/logger.hpp" +#include "rclcpp/logging.hpp" + +namespace rclcpp +{ + +/** + * Copy all parameters from one source node to another destination node. + * May throw exceptions if parameters from source are uninitialized or undeclared. + * \param source Node to copy parameters from + * \param destination Node to copy parameters to + * \param override_existing_params Default false. Whether to override existing destination params + * if both the source and destination contain the same parameter. + */ +template +void +copy_all_parameter_values( + const NodeT1 & source, const NodeT2 & destination, const bool override_existing_params = false) +{ + using Parameters = std::vector; + using Descriptions = std::vector; + auto source_params = source->get_node_parameters_interface(); + auto dest_params = destination->get_node_parameters_interface(); + rclcpp::Logger logger = destination->get_node_logging_interface()->get_logger(); + + std::vector param_names = source_params->list_parameters({}, 0).names; + Parameters params = source_params->get_parameters(param_names); + Descriptions descriptions = source_params->describe_parameters(param_names); + + for (unsigned int idx = 0; idx != params.size(); idx++) { + if (!dest_params->has_parameter(params[idx].get_name())) { + dest_params->declare_parameter( + params[idx].get_name(), params[idx].get_parameter_value(), descriptions[idx]); + } else if (override_existing_params) { + try { + rcl_interfaces::msg::SetParametersResult result = + dest_params->set_parameters_atomically({params[idx]}); + if (!result.successful) { + // Parameter update rejected or read-only + RCLCPP_WARN( + logger, + "Unable to set parameter (%s): %s!", + params[idx].get_name().c_str(), result.reason.c_str()); + } + } catch (const rclcpp::exceptions::InvalidParameterTypeException & e) { + RCLCPP_WARN( + logger, + "Unable to set parameter (%s): incompatable parameter type (%s)!", + params[idx].get_name().c_str(), e.what()); + } + } + } +} + +} // namespace rclcpp + +#endif // RCLCPP__COPY_ALL_PARAMETER_VALUES_HPP_ diff --git a/rclcpp/include/rclcpp/node.hpp b/rclcpp/include/rclcpp/node.hpp index 19abf4a602..c1ad85b417 100644 --- a/rclcpp/include/rclcpp/node.hpp +++ b/rclcpp/include/rclcpp/node.hpp @@ -972,7 +972,16 @@ class Node : public std::enable_shared_from_this /// Return a list of parameters with any of the given prefixes, up to the given depth. /** - * \todo: properly document and test this method. + * Parameters are separated into a hierarchy using the "." (dot) character. + * The "prefixes" argument is a way to select only particular parts of the hierarchy. + * + * \param[in] prefixes The list of prefixes that should be searched for within the + * current parameters. If this vector of prefixes is empty, then list_parameters + * will return all parameters. + * \param[in] depth An unsigned integer that represents the recursive depth to search. + * If this depth = 0, then all parameters that fit the prefixes will be returned. + * \returns A ListParametersResult message which contains both an array of unique prefixes + * and an array of names that were matched to the prefixes given. */ RCLCPP_PUBLIC rcl_interfaces::msg::ListParametersResult diff --git a/rclcpp/include/rclcpp/rclcpp.hpp b/rclcpp/include/rclcpp/rclcpp.hpp index ef587578e2..1d5b9113b5 100644 --- a/rclcpp/include/rclcpp/rclcpp.hpp +++ b/rclcpp/include/rclcpp/rclcpp.hpp @@ -54,6 +54,7 @@ * - rclcpp::ParameterValue * - rclcpp::AsyncParametersClient * - rclcpp::SyncParametersClient + * - rclcpp::copy_all_parameter_values() * - rclcpp/parameter.hpp * - rclcpp/parameter_value.hpp * - rclcpp/parameter_client.hpp @@ -164,6 +165,7 @@ #include #include +#include "rclcpp/copy_all_parameter_values.hpp" #include "rclcpp/executors.hpp" #include "rclcpp/guard_condition.hpp" #include "rclcpp/logging.hpp" diff --git a/rclcpp/package.xml b/rclcpp/package.xml index 65250590e3..110cc63e72 100644 --- a/rclcpp/package.xml +++ b/rclcpp/package.xml @@ -2,7 +2,7 @@ rclcpp - 23.0.0 + 23.1.0 The ROS client library in C++. Ivan Paunovic diff --git a/rclcpp/src/rclcpp/node_interfaces/node_base.cpp b/rclcpp/src/rclcpp/node_interfaces/node_base.cpp index 36e1afb932..7b13880157 100644 --- a/rclcpp/src/rclcpp/node_interfaces/node_base.cpp +++ b/rclcpp/src/rclcpp/node_interfaces/node_base.cpp @@ -21,6 +21,8 @@ #include "rcl/arguments.h" #include "rcl/node_type_cache.h" +#include "rcl/logging.h" +#include "rcl/logging_rosout.h" #include "rclcpp/exceptions.hpp" #include "rcutils/logging_macros.h" #include "rmw/validate_namespace.h" @@ -55,17 +57,12 @@ NodeBase::NodeBase( std::shared_ptr logging_mutex = get_global_logging_mutex(); rcl_ret_t ret; - { - std::lock_guard guard(*logging_mutex); - // TODO(ivanpauno): /rosout Qos should be reconfigurable. - // TODO(ivanpauno): Instead of mutually excluding rcl_node_init with the global logger mutex, - // rcl_logging_rosout_init_publisher_for_node could be decoupled from there and be called - // here directly. - ret = rcl_node_init( - rcl_node.get(), - node_name.c_str(), namespace_.c_str(), - context_->get_rcl_context().get(), &rcl_node_options); - } + + // TODO(ivanpauno): /rosout Qos should be reconfigurable. + ret = rcl_node_init( + rcl_node.get(), + node_name.c_str(), namespace_.c_str(), + context_->get_rcl_context().get(), &rcl_node_options); if (ret != RCL_RET_OK) { if (ret == RCL_RET_NODE_INVALID_NAME) { rcl_reset_error(); // discard rcl_node_init error @@ -115,13 +112,29 @@ NodeBase::NodeBase( throw_from_rcl_error(ret, "failed to initialize rcl node"); } + // The initialization for the rosout publisher + if (rcl_logging_rosout_enabled() && rcl_node_options.enable_rosout) { + std::lock_guard guard(*logging_mutex); + ret = rcl_logging_rosout_init_publisher_for_node(rcl_node.get()); + if (ret != RCL_RET_OK) { + throw_from_rcl_error(ret, "failed to initialize rosout publisher"); + } + } + node_handle_.reset( rcl_node.release(), - [logging_mutex](rcl_node_t * node) -> void { - std::lock_guard guard(*logging_mutex); - // TODO(ivanpauno): Instead of mutually excluding rcl_node_fini with the global logger mutex, - // rcl_logging_rosout_fini_publisher_for_node could be decoupled from there and be called - // here directly. + [logging_mutex, rcl_node_options](rcl_node_t * node) -> void { + { + std::lock_guard guard(*logging_mutex); + if (rcl_logging_rosout_enabled() && rcl_node_options.enable_rosout) { + rcl_ret_t ret = rcl_logging_rosout_fini_publisher_for_node(node); + if (ret != RCL_RET_OK) { + RCUTILS_LOG_ERROR_NAMED( + "rclcpp", + "Error in destruction of rosout publisher: %s", rcl_get_error_string().str); + } + } + } if (rcl_node_fini(node) != RCL_RET_OK) { RCUTILS_LOG_ERROR_NAMED( "rclcpp", diff --git a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp index b4c899ff9b..922ce9e4d1 100644 --- a/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp +++ b/rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp @@ -1059,7 +1059,7 @@ NodeParameters::list_parameters(const std::vector & prefixes, uint6 if (depth == rcl_interfaces::srv::ListParameters::Request::DEPTH_RECURSIVE) { return true; } - std::string substr = kv.first.substr(prefix.length()); + std::string substr = kv.first.substr(prefix.length() + 1); return separators_less_than_depth(substr); } return false; diff --git a/rclcpp/src/rclcpp/signal_handler.cpp b/rclcpp/src/rclcpp/signal_handler.cpp index 7085c63bdf..cf26d06df4 100644 --- a/rclcpp/src/rclcpp/signal_handler.cpp +++ b/rclcpp/src/rclcpp/signal_handler.cpp @@ -113,7 +113,7 @@ SignalHandler::get_logger() SignalHandler & SignalHandler::get_global_signal_handler() { - static SignalHandler signal_handler; + static SignalHandler & signal_handler = *new SignalHandler(); return signal_handler; } diff --git a/rclcpp/src/rclcpp/time_source.cpp b/rclcpp/src/rclcpp/time_source.cpp index a0e1d00853..465ceaf5a7 100644 --- a/rclcpp/src/rclcpp/time_source.cpp +++ b/rclcpp/src/rclcpp/time_source.cpp @@ -236,6 +236,7 @@ class TimeSource::NodeState final rclcpp::node_interfaces::NodeClockInterface::SharedPtr node_clock_interface, rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters_interface) { + std::lock_guard guard(node_base_lock_); node_base_ = node_base_interface; node_topics_ = node_topics_interface; node_graph_ = node_graph_interface; @@ -280,17 +281,14 @@ class TimeSource::NodeState final parameter_subscription_ = rclcpp::AsyncParametersClient::on_parameter_event( node_topics_, [this](std::shared_ptr event) { - if (node_base_ != nullptr) { - this->on_parameter_event(event); - } - // Do nothing if node_base_ is nullptr because it means the TimeSource is now - // without an attached node + this->on_parameter_event(event); }); } // Detach the attached node void detachNode() { + std::lock_guard guard(node_base_lock_); // destroy_clock_sub() *must* be first here, to ensure that the executor // can't possibly call any of the callbacks as we are cleaning up. destroy_clock_sub(); @@ -327,6 +325,7 @@ class TimeSource::NodeState final std::thread clock_executor_thread_; // Preserve the node reference + std::mutex node_base_lock_; rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_{nullptr}; rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics_{nullptr}; rclcpp::node_interfaces::NodeGraphInterface::SharedPtr node_graph_{nullptr}; @@ -464,6 +463,14 @@ class TimeSource::NodeState final // Callback for parameter updates void on_parameter_event(std::shared_ptr event) { + std::lock_guard guard(node_base_lock_); + + if (node_base_ == nullptr) { + // Do nothing if node_base_ is nullptr because it means the TimeSource is now + // without an attached node + return; + } + // Filter out events on 'use_sim_time' parameter instances in other nodes. if (event->node != node_base_->get_fully_qualified_name()) { return; diff --git a/rclcpp/test/rclcpp/CMakeLists.txt b/rclcpp/test/rclcpp/CMakeLists.txt index 8c31a95415..afa12cd24d 100644 --- a/rclcpp/test/rclcpp/CMakeLists.txt +++ b/rclcpp/test/rclcpp/CMakeLists.txt @@ -34,13 +34,7 @@ if(TARGET test_exceptions) target_link_libraries(test_exceptions ${PROJECT_NAME} mimick) endif() -# Increasing timeout because connext can take a long time to destroy nodes -# TODO(brawner) remove when destroying Node for Connext is resolved. See: -# https://github.com/ros2/rclcpp/issues/1250 -ament_add_gtest( - test_allocator_memory_strategy - strategies/test_allocator_memory_strategy.cpp - TIMEOUT 360) +ament_add_gtest(test_allocator_memory_strategy strategies/test_allocator_memory_strategy.cpp) if(TARGET test_allocator_memory_strategy) ament_target_dependencies(test_allocator_memory_strategy "rcl" @@ -81,6 +75,13 @@ if(TARGET test_client) ) target_link_libraries(test_client ${PROJECT_NAME} mimick) endif() +ament_add_gtest(test_copy_all_parameter_values test_copy_all_parameter_values.cpp) +if(TARGET test_copy_all_parameter_values) + ament_target_dependencies(test_copy_all_parameter_values + "rcl_interfaces" + ) + target_link_libraries(test_copy_all_parameter_values ${PROJECT_NAME}) +endif() ament_add_gtest(test_create_timer test_create_timer.cpp) if(TARGET test_create_timer) ament_target_dependencies(test_create_timer @@ -669,8 +670,6 @@ if(TARGET test_interface_traits) target_link_libraries(test_interface_traits ${PROJECT_NAME}) endif() -# TODO(brawner) remove when destroying Node for Connext is resolved. See: -# https://github.com/ros2/rclcpp/issues/1250 ament_add_gtest( test_executors executors/test_executors.cpp diff --git a/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp b/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp index 9113c96ca5..d262c67a9a 100644 --- a/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp +++ b/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp @@ -95,15 +95,15 @@ TEST_F(TestNodeParameters, list_parameters) std::find(list_result2.names.begin(), list_result2.names.end(), parameter_name), list_result2.names.end()); - // Check prefixes + // Check prefixes and the depth relative to the given prefixes const std::string parameter_name2 = "prefix.new_parameter"; const rclcpp::ParameterValue value2(true); const rcl_interfaces::msg::ParameterDescriptor descriptor2; const auto added_parameter_value2 = node_parameters->declare_parameter(parameter_name2, value2, descriptor2, false); - EXPECT_EQ(value.get(), added_parameter_value.get()); + EXPECT_EQ(value2.get(), added_parameter_value2.get()); prefixes = {"prefix"}; - auto list_result3 = node_parameters->list_parameters(prefixes, 2u); + auto list_result3 = node_parameters->list_parameters(prefixes, 1u); EXPECT_EQ(1u, list_result3.names.size()); EXPECT_NE( std::find(list_result3.names.begin(), list_result3.names.end(), parameter_name2), @@ -116,6 +116,13 @@ TEST_F(TestNodeParameters, list_parameters) EXPECT_NE( std::find(list_result4.names.begin(), list_result4.names.end(), parameter_name), list_result4.names.end()); + + // Return all parameters when the depth = 0 + auto list_result5 = node_parameters->list_parameters(prefixes, 0u); + EXPECT_EQ(1u, list_result5.names.size()); + EXPECT_NE( + std::find(list_result5.names.begin(), list_result5.names.end(), parameter_name), + list_result5.names.end()); } TEST_F(TestNodeParameters, parameter_overrides) diff --git a/rclcpp/test/rclcpp/test_copy_all_parameter_values.cpp b/rclcpp/test/rclcpp/test_copy_all_parameter_values.cpp new file mode 100644 index 0000000000..e3020efd1e --- /dev/null +++ b/rclcpp/test/rclcpp/test_copy_all_parameter_values.cpp @@ -0,0 +1,88 @@ +// Copyright 2023 Open Navigation LLC +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include +#include "rclcpp/copy_all_parameter_values.hpp" +#include "rclcpp/rclcpp.hpp" + +class TestNode : public ::testing::Test +{ +protected: + static void SetUpTestCase() + { + rclcpp::init(0, nullptr); + } + + static void TearDownTestCase() + { + rclcpp::shutdown(); + } +}; + +TEST_F(TestNode, TestParamCopying) +{ + auto node1 = std::make_shared("test_node1"); + auto node2 = std::make_shared("test_node2"); + + // Tests for (1) multiple types, (2) recursion, (3) overriding values + node1->declare_parameter("Foo1", rclcpp::ParameterValue(std::string(("bar1")))); + node1->declare_parameter("Foo2", rclcpp::ParameterValue(0.123)); + node1->declare_parameter("Foo", rclcpp::ParameterValue(std::string(("bar")))); + node1->declare_parameter("Foo.bar", rclcpp::ParameterValue(std::string(("steve")))); + node2->declare_parameter("Foo", rclcpp::ParameterValue(std::string(("barz2")))); + + // Show Node2 is empty of Node1's parameters, but contains its own + EXPECT_FALSE(node2->has_parameter("Foo1")); + EXPECT_FALSE(node2->has_parameter("Foo2")); + EXPECT_FALSE(node2->has_parameter("Foo.bar")); + EXPECT_TRUE(node2->has_parameter("Foo")); + EXPECT_EQ(node2->get_parameter("Foo").as_string(), std::string("barz2")); + + bool override = false; + rclcpp::copy_all_parameter_values(node1, node2, override); + + // Test new parameters exist, of expected value, and original param is not overridden + EXPECT_TRUE(node2->has_parameter("Foo1")); + EXPECT_EQ(node2->get_parameter("Foo1").as_string(), std::string("bar1")); + EXPECT_TRUE(node2->has_parameter("Foo2")); + EXPECT_EQ(node2->get_parameter("Foo2").as_double(), 0.123); + EXPECT_TRUE(node2->has_parameter("Foo.bar")); + EXPECT_EQ(node2->get_parameter("Foo.bar").as_string(), std::string("steve")); + EXPECT_TRUE(node2->has_parameter("Foo")); + EXPECT_EQ(node2->get_parameter("Foo").as_string(), std::string("barz2")); + + // Test if parameter overrides are permissible that Node2's value is overridden + override = true; + rclcpp::copy_all_parameter_values(node1, node2, override); + EXPECT_EQ(node2->get_parameter("Foo").as_string(), std::string("bar")); +} + +TEST_F(TestNode, TestParamCopyingExceptions) +{ + auto node1 = std::make_shared("test_node1"); + auto node2 = std::make_shared("test_node2"); + + // Tests for Parameter value conflicts handled + node1->declare_parameter("Foo", rclcpp::ParameterValue(std::string(("bar")))); + node2->declare_parameter("Foo", rclcpp::ParameterValue(0.123)); + + bool override = true; + EXPECT_NO_THROW( + rclcpp::copy_all_parameter_values(node1, node2, override)); + + // Tests for Parameter read-only handled + node1->declare_parameter("Foo1", rclcpp::ParameterValue(std::string(("bar")))); + node2->declare_parameter("Foo1", rclcpp::ParameterValue(0.123)); + EXPECT_NO_THROW(rclcpp::copy_all_parameter_values(node1, node2, override)); +} diff --git a/rclcpp_action/CHANGELOG.rst b/rclcpp_action/CHANGELOG.rst index 447f07b0cc..5a32cf54a9 100644 --- a/rclcpp_action/CHANGELOG.rst +++ b/rclcpp_action/CHANGELOG.rst @@ -3,6 +3,9 @@ Changelog for package rclcpp_action ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +23.1.0 (2023-10-04) +------------------- + 23.0.0 (2023-09-08) ------------------- * Update API docs links in package READMEs (`#2302 `_) diff --git a/rclcpp_action/package.xml b/rclcpp_action/package.xml index 6c6ddb7f93..4d96b76d52 100644 --- a/rclcpp_action/package.xml +++ b/rclcpp_action/package.xml @@ -2,7 +2,7 @@ rclcpp_action - 23.0.0 + 23.1.0 Adds action APIs for C++. Ivan Paunovic diff --git a/rclcpp_components/CHANGELOG.rst b/rclcpp_components/CHANGELOG.rst index 58cfffac7e..f3734be502 100644 --- a/rclcpp_components/CHANGELOG.rst +++ b/rclcpp_components/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rclcpp_components ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +23.1.0 (2023-10-04) +------------------- +* Add missing header required by the rclcpp::NodeOptions type (`#2324 `_) +* Contributors: Ignacio Vizzo + 23.0.0 (2023-09-08) ------------------- * Update API docs links in package READMEs (`#2302 `_) diff --git a/rclcpp_components/include/rclcpp_components/node_factory.hpp b/rclcpp_components/include/rclcpp_components/node_factory.hpp index 67e6cd7331..7b1f2dcae6 100644 --- a/rclcpp_components/include/rclcpp_components/node_factory.hpp +++ b/rclcpp_components/include/rclcpp_components/node_factory.hpp @@ -15,6 +15,7 @@ #ifndef RCLCPP_COMPONENTS__NODE_FACTORY_HPP__ #define RCLCPP_COMPONENTS__NODE_FACTORY_HPP__ +#include "rclcpp/node_options.hpp" #include "rclcpp_components/node_instance_wrapper.hpp" namespace rclcpp_components diff --git a/rclcpp_components/package.xml b/rclcpp_components/package.xml index ad90b595a4..18c6eaec17 100644 --- a/rclcpp_components/package.xml +++ b/rclcpp_components/package.xml @@ -2,7 +2,7 @@ rclcpp_components - 23.0.0 + 23.1.0 Package containing tools for dynamically loadable components Ivan Paunovic diff --git a/rclcpp_lifecycle/CHANGELOG.rst b/rclcpp_lifecycle/CHANGELOG.rst index 275bb3428a..f94a150d9a 100644 --- a/rclcpp_lifecycle/CHANGELOG.rst +++ b/rclcpp_lifecycle/CHANGELOG.rst @@ -3,6 +3,9 @@ Changelog for package rclcpp_lifecycle ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +23.1.0 (2023-10-04) +------------------- + 23.0.0 (2023-09-08) ------------------- * Update API docs links in package READMEs (`#2302 `_) diff --git a/rclcpp_lifecycle/package.xml b/rclcpp_lifecycle/package.xml index 850923df60..328d6d4db9 100644 --- a/rclcpp_lifecycle/package.xml +++ b/rclcpp_lifecycle/package.xml @@ -2,7 +2,7 @@ rclcpp_lifecycle - 23.0.0 + 23.1.0 Package containing a prototype for lifecycle implementation Ivan Paunovic