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Unify and simplify de/serializeROSmessage processing #171

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merged 1 commit into from
Nov 9, 2017

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jwang11
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@jwang11 jwang11 commented Oct 31, 2017

For most type_id, there is no difference for serialization which can be unified in a common template function. However, for bool and string, there is extra check or logic for normal but array does not. Although it is weird, this commit keep the logic intact.

Signed-off-by: jwang jing.j.wang@intel.com

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This is a follow up of #168 now that most of the logic for array has been simplified and magic numbers removed.

Thanks @jwang11 we'll try to get this reviewed soon

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mikaelarguedas commented Nov 1, 2017

Although it is weird, this commit keep the logic intact.

Yes this extra logic is necessary, thanks for keeping it as is.

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lgtm

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While it's counter intuitive to call (de)serializeArray for non array types I appreciate the code deduplication.

I'll leave a chance to @ros2/team to voice any concern before merging

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Before the code was calling the following for non-array fields:

ser << *static_cast<uint8_t *>(field);

With the patch it is calling this line instead:

ser.serializeArray(static_cast<uint8_t *>(field), 1);

I don't think we can rely on them being equivalent without making assumptions about how serializeArray is implemented. And that could change anytime. Therefore this change doesn't look like a good idea to me.

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jwang11 commented Nov 1, 2017

ser.serializeArray(static_cast<uint8_t *>(field), 1);

Ok, If it introduce the dependency on specific FastRTPS implementation, I can update the commit to handle non-array type separately, but still in same function.

For most type_id, serialization approach is similar which can be handled in a
common template function, both single and array field. However, for bool and string type,
there are extra check and logic for single but array does not. Although it is weird,
this commit keep the logic intact.

Signed-off-by: jwang <jing.j.wang@intel.com>
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jwang11 commented Nov 2, 2017

Code updated. Separate the process for single field and array according to comments, consolidate them in central function which obviously help code deduplication.

@mikaelarguedas mikaelarguedas added in review Waiting for review (Kanban column) and removed in progress Actively being worked on (Kanban column) labels Nov 9, 2017
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Thank you for improving the code.

@dirk-thomas dirk-thomas merged commit 24bf7b5 into ros2:master Nov 9, 2017
@dirk-thomas dirk-thomas removed the in review Waiting for review (Kanban column) label Nov 9, 2017
timonegk pushed a commit to timonegk/ros-rolling-rmw-fastrtps-cpp-release that referenced this pull request May 21, 2022
ros-rolling-rmw-fastrtps-cpp (6.2.1-1jammy) jammy; urgency=high
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  * Add pub/sub init, publish and take instrumentation using tracetools (#591 <ros2/rmw_fastrtps#591>)
  * Add content filter topic feature (#513 <ros2/rmw_fastrtps#513>)
  * Add sequence numbers to message info structure (#587 <ros2/rmw_fastrtps#587>)
  * Removed some heap interactions in rmw_serialize.cpp (#590 <ros2/rmw_fastrtps#590>)
  * Contributors: Chen Lihui, Christophe Bedard, Ivan Santiago Paunovic, WideAwakeTN
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ros-rolling-rmw-fastrtps-cpp (6.2.0-1jammy) jammy; urgency=high
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  * Add EventsExecutor (#468 <ros2/rmw_fastrtps#468>)
  * Install headers to include/${PROJECT_NAME} (#578 <ros2/rmw_fastrtps#578>)
  * Contributors: Shane Loretz, iRobot ROS
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ros-rolling-rmw-fastrtps-cpp (5.2.2-1jammy) jammy; urgency=high
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  * Correctly recalculate serialized size on bounded sequences. (#540 <ros2/rmw_fastrtps#540>)
  * Fix type size alignment. (#550 <ros2/rmw_fastrtps#550>)
  * Contributors: Miguel Company
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ros-rolling-rmw-fastrtps-cpp (5.2.1-1jammy) jammy; urgency=high
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  * Change links from index.ros.org -> docs.ros.org (#539 <ros2/rmw_fastrtps#539>)
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ros-rolling-rmw-fastrtps-cpp (5.2.0-1jammy) jammy; urgency=high
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  * Add rmw_publisher_wait_for_all_acked support. (#519 <ros2/rmw_fastrtps#519>)
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ros-rolling-rmw-fastrtps-cpp (5.1.0-1jammy) jammy; urgency=high
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  * Loan messages implementation (#523 <ros2/rmw_fastrtps#523>)
    * Added is_plain_ attribute to base TypeSupport.
    * Added new methods to base TypeSupport.
    * Implementation of rmw_borrow_loaned_message.
    * Implementation of rmw_return_loaned_message_from_publisher.
    * Enable loan messages on publishers of plain types.
    * Implementation for taking loaned messages.
    * Enable loan messages on subscriptions of plain types.
  * Contributors: Miguel Company
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ros-rolling-rmw-fastrtps-cpp (5.0.0-1jammy) jammy; urgency=high
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  * Refactor to use DDS standard API (#518 <ros2/rmw_fastrtps#518>)
  * Unique network flows (#502 <ros2/rmw_fastrtps#502>)
  * updating quality declaration links (re: ros2/docs.ros2.org#52 <ros2/docs.ros2.org#52>) (#520 <ros2/rmw_fastrtps#520>)
  * Contributors: Miguel Company, shonigmann
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ros-rolling-rmw-fastrtps-cpp (4.4.0-1jammy) jammy; urgency=high
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  * Add RMW function to check QoS compatibility (#511 <ros2/rmw_fastrtps#511>)
  * Capture cdr exceptions (#505 <ros2/rmw_fastrtps#505>)
  * Contributors: Jacob Perron, Miguel Company
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ros-rolling-rmw-fastrtps-cpp (4.3.0-1jammy) jammy; urgency=high
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  * Load profiles based on topic names (#335 <ros2/rmw_fastrtps#335>)
  * Set rmw_dds_common::GraphCache callback after init succeeds. (#496 <ros2/rmw_fastrtps#496>)
  * Handle typesupport errors on fetch. (#495 <ros2/rmw_fastrtps#495>)
  * Contributors: Eduardo Ponz Segrelles, Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (4.1.0-1jammy) jammy; urgency=high
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  * Check for correct context shutdown (#486 <ros2/rmw_fastrtps#486>)
  * New environment variable to change easily the publication mode (#470 <ros2/rmw_fastrtps#470>)
  * Contributors: Ignacio Montesino Valle, José Luis Bueno López
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ros-rolling-rmw-fastrtps-cpp (4.0.0-1jammy) jammy; urgency=high
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  * Discriminate when the Client has gone from when the Client has not completely matched (#467 <ros2/rmw_fastrtps#467>)
    * Workaround when the client is gone before server sends response
    * Change add to the map to listener callback
  * Update the package.xml files with the latest Open Robotics maintainers (#459 <ros2/rmw_fastrtps#459>)
  * Update Quality Declarations and READMEs (#455 <ros2/rmw_fastrtps#455>)
    * Add QD links for dependencies to rmw_fastrtps_cpp QD
    * Provide external dependencies QD links
    * Update rmw_fastrtps README to use Fast DDS
    * Update rmw_fastrtps_cpp QD: Fast DDS & unit test
    * Update README rmw_fastrtps_cpp to QL2
  * Contributors: JLBuenoLopez-eProsima, Jaime Martin Losa, José Luis Bueno López, Michael Jeronimo
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ros-rolling-rmw-fastrtps-cpp (3.1.4-1jammy) jammy; urgency=high
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  * Perform fault injection in all creation/destruction APIs. (#453 <ros2/rmw_fastrtps#453>)
  * Ensure rmw_destroy_node() completes despite run-time errors. (#458 <ros2/rmw_fastrtps#458>)
  * Update rmw_fastrtps_cpp and rmw_fastrtps_shared_cpp QDs to QL2. (#456 <ros2/rmw_fastrtps#456>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (3.1.3-1jammy) jammy; urgency=high
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  * Return RMW_RET_UNSUPPORTED in rmw_get_serialized_message_size (#452 <ros2/rmw_fastrtps#452>)
  * Contributors: Alejandro Hernández Cordero
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ros-rolling-rmw-fastrtps-cpp (3.1.2-1jammy) jammy; urgency=high
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  * Updated publisher/subscription allocation and wait set API return codes (#443 <ros2/rmw_fastrtps#443>)
  * Added rmw_logging tests (#442 <ros2/rmw_fastrtps#442>)
  * Contributors: Alejandro Hernández Cordero
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ros-rolling-rmw-fastrtps-cpp (3.1.1-1jammy) jammy; urgency=high
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  * Make service/client construction/destruction implementation compliant (#445 <ros2/rmw_fastrtps#445>)
  * Make sure type can be unregistered successfully (#437 <ros2/rmw_fastrtps#437>)
  * Contributors: Barry Xu, Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (3.1.0-1jammy) jammy; urgency=high
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  * Add tests for native entity getters. (#439 <ros2/rmw_fastrtps#439>)
  * Avoid deadlock if graph update fails. (#438 <ros2/rmw_fastrtps#438>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (3.0.0-1jammy) jammy; urgency=high
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  * Call Domain::removePublisher while failure occurs in create_publisher (#434 <ros2/rmw_fastrtps#434>)
  * Contributors: Barry Xu
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ros-rolling-rmw-fastrtps-cpp (2.6.0-1jammy) jammy; urgency=high
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  * Ensure compliant matched pub/sub count API. (#424 <ros2/rmw_fastrtps#424>)
  * Ensure compliant publisher QoS queries. (#425 <ros2/rmw_fastrtps#425>)
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ros-rolling-rmw-fastrtps-cpp (2.3.0-1jammy) jammy; urgency=high
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  * Ensure compliant publisher API. (#414 <ros2/rmw_fastrtps#414>)
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ros-rolling-rmw-fastrtps-cpp (2.2.0-1jammy) jammy; urgency=high
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  * Set context actual domain id (#410 <ros2/rmw_fastrtps#410>)
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ros-rolling-rmw-fastrtps-cpp (2.1.0-1jammy) jammy; urgency=high
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  * Ensure compliant node construction/destruction API. (#408 <ros2/rmw_fastrtps#408>)
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ros-rolling-rmw-fastrtps-cpp (2.0.0-1jammy) jammy; urgency=high
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  * Remove domain_id and localhost_only from node API (#407 <ros2/rmw_fastrtps#407>)
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ros-rolling-rmw-fastrtps-cpp (1.1.0-1jammy) jammy; urgency=high
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  * Ensure compliant init/shutdown API implementation. (#401 <ros2/rmw_fastrtps#401>)
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  * Finalize context iff shutdown. (#396 <ros2/rmw_fastrtps#396>)
  * Make service wait for response reader (#390 <ros2/rmw_fastrtps#390>)
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ros-rolling-rmw-fastrtps-cpp (1.0.1-1jammy) jammy; urgency=high
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  * Add Security Vulnerability Policy pointing to REP-2006 (#389 <ros2/rmw_fastrtps#389>)
  * Update QDs for 1.0 (#383 <ros2/rmw_fastrtps#383>)
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ros-rolling-rmw-fastrtps-cpp (1.0.0-1jammy) jammy; urgency=high
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  * Remove API related to manual by node liveliness.  (#379 <ros2/rmw_fastrtps#379>)
  * Update quality declarations on feature testing. (#380 <ros2/rmw_fastrtps#380>)
  * Contributors: Ivan Santiago Paunovic, Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (0.9.1-1jammy) jammy; urgency=high
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  * Add package READMEs and QUALITY_DECLARATION files (#375 <ros2/rmw_fastrtps#375>)
  * Added doxyfiles (#372 <ros2/rmw_fastrtps#372>)
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ros-rolling-rmw-fastrtps-cpp (0.9.0-1jammy) jammy; urgency=high
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  * Add missing export of rmw_dds_common. (#374 <ros2/rmw_fastrtps#374>)
  * Rename rosidl_message_bounds_t. (#373 <ros2/rmw_fastrtps#373>)
  * Feature/services timestamps. (#369 <ros2/rmw_fastrtps#369>)
  * Add support for taking a sequence of messages. (#366 <ros2/rmw_fastrtps#366>)
  * security-context -> enclave. (#365 <ros2/rmw_fastrtps#365>)
  * Rename rosidl_generator_c namespace to rosidl_runtime_c. (#367 <ros2/rmw_fastrtps#367>)
  * Remove custom typesupport for rmw_dds_common interfaces. (#364 <ros2/rmw_fastrtps#364>)
  * Added rosidl_runtime c and cpp depencencies. (#351 <ros2/rmw_fastrtps#351>)
  * Switch to one Participant per Context. (#312 <ros2/rmw_fastrtps#312>)
  * Add rmw_*_event_init() functions. (#354 <ros2/rmw_fastrtps#354>)
  * Fixing type support C/CPP mix on rmw_fastrtps_dynamic_cpp. (#350 <ros2/rmw_fastrtps#350>)
  * Fix build warning in Ubuntu Focal. (#346 <ros2/rmw_fastrtps#346>)
  * Code style only: wrap after open parenthesis if not in one line. (#347 <ros2/rmw_fastrtps#347>)
  * Passing down type support information (#342 <ros2/rmw_fastrtps#342>)
  * Implement functions to get publisher and subcription informations like QoS policies from topic name. (#336 <ros2/rmw_fastrtps#336>)
  * Contributors: Alejandro Hernández Cordero, Dirk Thomas, Ingo Lütkebohle, Ivan Santiago Paunovic, Jaison Titus, Miaofei Mei, Michael Carroll, Miguel Company, Mikael Arguedas
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ros-rolling-rmw-fastrtps-cpp (0.8.1-1jammy) jammy; urgency=high
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  * use return_loaned_message_from (#334 <ros2/rmw_fastrtps#334>)
  * Restrict traffic to localhost only if env var is provided (#331 <ros2/rmw_fastrtps#331>)
  * Zero copy api (#322 <ros2/rmw_fastrtps#322>)
  * update signature for added pub/sub options (#329 <ros2/rmw_fastrtps#329>)
  * Contributors: Brian Marchi, Karsten Knese, William Woodall
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ros-rolling-rmw-fastrtps-cpp (0.8.0-1jammy) jammy; urgency=high
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  * Add function for getting clients by node (#293 <ros2/rmw_fastrtps#293>)
  * Implement get_actual_qos() for subscriptions (#287 <ros2/rmw_fastrtps#287>)
  * Fix error message (#290 <ros2/rmw_fastrtps#290>)
  * Contributors: Jacob Perron, M. M
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ros-rolling-rmw-fastrtps-cpp (0.7.2-1jammy) jammy; urgency=high
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  * Contributors: Nick Burek
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ros-rolling-rmw-fastrtps-cpp (0.7.1-1jammy) jammy; urgency=high
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  * Support arbitrary message namespaces  (#266 <ros2/rmw_fastrtps#266>)
  * Add qos interfaces with no-op (#271 <ros2/rmw_fastrtps#271>)
  * Updates for preallocation API. (#274 <ros2/rmw_fastrtps#274>)
  * Contributors: Jacob Perron, Michael Carroll, Ross Desmond
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ros-rolling-rmw-fastrtps-cpp (0.7.0-1jammy) jammy; urgency=high
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  * Add function to get publisher actual qos settings (#267 <ros2/rmw_fastrtps#267>)
  * pass context to wait set and fini context (#252 <ros2/rmw_fastrtps#252>)
  * Improve service_is_available logic to protect that client is waiting forever (#238 <ros2/rmw_fastrtps#238>)
  * Merge pull request #250 <ros2/rmw_fastrtps#250> from ros2/support_static_lib
  * use namespace_prefix from shared package
  * Contributors: Dirk Thomas, DongheeYe, William Woodall, ivanpauno
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ros-rolling-rmw-fastrtps-cpp (0.6.1-1jammy) jammy; urgency=high
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  * Add topic cache object for managing topic relations (#236 <ros2/rmw_fastrtps#236>)
  * Fastrtps 1.7.0 (#233 <ros2/rmw_fastrtps#233>)
  * RMW_FastRTPS configuration from XML only (#243 <ros2/rmw_fastrtps#243>)
  * refactor to support init options and context (#237 <ros2/rmw_fastrtps#237>)
  * Methods to retrieve matched counts on pub/sub (#234 <ros2/rmw_fastrtps#234>)
  * use uint8_array (#240 <ros2/rmw_fastrtps#240>)
  * Contributors: Juan Carlos, Karsten Knese, Michael Carroll, MiguelCompany, Ross Desmond, William Woodall
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ros-rolling-rmw-fastrtps-cpp (0.6.0-1jammy) jammy; urgency=high
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  * Add semicolons to all RCLCPP and RCUTILS macros. (#229 <ros2/rmw_fastrtps#229>)
  * Include node namespaces in get_node_names (#224 <ros2/rmw_fastrtps#224>)
  * add rmw_get_serialization_format (#215 <ros2/rmw_fastrtps#215>)
  * Merge pull request #218 <ros2/rmw_fastrtps#218> from ros2/pr203
  * Revert "fix template closing indentation (#214 <ros2/rmw_fastrtps#214>)"
  * fix template closing indentation (#214 <ros2/rmw_fastrtps#214>)
  * Contributors: Chris Lalancette, Dirk Thomas, Karsten Knese, Michael Carroll, Miguel Company, Mikael Arguedas
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ros-rolling-rmw-fastrtps-cpp (0.5.1-1jammy) jammy; urgency=high
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  * update maintainer
  * Contributors: Dirk Thomas
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ros-rolling-rmw-fastrtps-cpp (0.5.0-1jammy) jammy; urgency=high
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  * Avoid allocations (#211 <ros2/rmw_fastrtps#211>)
  * Temporary buffer remove (#207 <ros2/rmw_fastrtps#207>)
  * Validate the buffer_ of CustomServiceRequest object before using it to (#210 <ros2/rmw_fastrtps#210>)
  * update usage of rcutils_join_path() (#208 <ros2/rmw_fastrtps#208>)
  * Expose raw CDR stream for publish and subscribe (#186 <ros2/rmw_fastrtps#186>)
  * Remove topic partitions (#192 <ros2/rmw_fastrtps#192>)
  * Fix leak if client reponse is never taken (#201 <ros2/rmw_fastrtps#201>)
  * Revert "Export rmw_fastrtps_cpp target" (#200 <ros2/rmw_fastrtps#200>)
  * Support access control  (#197 <ros2/rmw_fastrtps#197>)
  * Export rmw_fastrtps_cpp target (#198 <ros2/rmw_fastrtps#198>)
  * Fix deserialization segfault in bionic. (#199 <ros2/rmw_fastrtps#199>)
  * Fix namespaces (#196 <ros2/rmw_fastrtps#196>)
  * Merge pull request #182 <ros2/rmw_fastrtps#182> from ros2/node_name_in_user_data
  * add participant listener
  * add node name to user data
  * change export order for static linking (#190 <ros2/rmw_fastrtps#190>)
  * update style (#189 <ros2/rmw_fastrtps#189>)
  * optimize timeout judgement according to different condition (#187 <ros2/rmw_fastrtps#187>)
  * use existing check_wait_set_for_data to avoid duplicated code (#185 <ros2/rmw_fastrtps#185>)
  * Enable logging level manipulation from rmw_fastrtps (#156 <ros2/rmw_fastrtps#156>)
  * Small performance improvements (#183 <ros2/rmw_fastrtps#183>)
  * Segmentation error to dereference nullptr (#180 <ros2/rmw_fastrtps#180>)
  * Contributors: Dirk Thomas, Ethan Gao, Guillaume Autran, Karsten Knese, Michael Carroll, MiguelCompany, Mikael Arguedas, Minggang Wang, Rohit Salem, Shane Loretz, Sriram Raghunathan, William Woodall, jwang11
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ros-rolling-rmw-fastrtps-cpp (0.4.0-1jammy) jammy; urgency=high
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  * Merge pull request #178 <ros2/rmw_fastrtps#178> from ros2/fix_wrong_count
  * Merge pull request #177 <ros2/rmw_fastrtps#177> from ros2/rename_group
  * Wait set two words (#175 <ros2/rmw_fastrtps#175>)
  * not exporting pthread manually (#174 <ros2/rmw_fastrtps#174>)
  * Merge pull request #169 <ros2/rmw_fastrtps#169> from ros2/rep149
  * Merge pull request #171 <ros2/rmw_fastrtps#171> from jwang11/master
  * rcutils_join_path returns a char * now. (#173 <ros2/rmw_fastrtps#173>)
  * memory leak issue (#172 <ros2/rmw_fastrtps#172>)
  * Unify and simplify de/serializeROSmessage processing
  * Avoid duplicated code in calculateMaxSerializedSize for array and normal member (#168 <ros2/rmw_fastrtps#168>)
  * Fix the issues to dereference to nullptr (#165 <ros2/rmw_fastrtps#165>)
  * Fix rmw_fastrtps dead code (#163 <ros2/rmw_fastrtps#163>)
  * Merge pull request #167 <ros2/rmw_fastrtps#167> from deng02/tune-count-pub-sub
  * Remove string allocation in the count of subscribers and publishers
  * use auto deduction and nullptr to keep coding style consistent (#162 <ros2/rmw_fastrtps#162>)
  * Merge pull request #164 <ros2/rmw_fastrtps#164> from dejanpan/master
  * Fix several parameter check issues in rmw_fastrtps_cpp apis
  * Remove unnecessary dependency on rosidl_generator_cpp (#161 <ros2/rmw_fastrtps#161>)
  * Move the hasData checks for non-blocking wait 'timeout' higher (#158 <ros2/rmw_fastrtps#158>)
  * Support loading default XML profile file (#153 <ros2/rmw_fastrtps#153>)
  * Drop duplicated rmw_init.cpp in rmw_fastrtps_cpp/CMakeLists.txt (#155 <ros2/rmw_fastrtps#155>)
  * Merge pull request #154 <ros2/rmw_fastrtps#154> from ros2/uncrustify_master
  * Removing magic numbers: old maximun lengths (#152 <ros2/rmw_fastrtps#152>)
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