micro-ROS rolling Library auto-update 26-05-2022 06:09 (#540)

Co-authored-by: pablogs9 <[email protected]>

built_packages

@@ -6,14 +6,14 @@ https://github.com/ament/ament_package.git a80f40af065e4f708b88ca024f10bfd21bb17
 https://github.com/ament/googletest.git 6df7425fdcbd368d2d1b99ffd89b9168014abb07
 https://github.com/ament/uncrustify_vendor.git d647c05b96bc2b2edf4db652a3fc9ebf0fd52f3c
 https://github.com/eProsima/Micro-CDR.git cb4403a8780095df94a7b1936b1e00153c90070d
-https://github.com/eProsima/Micro-XRCE-DDS-Client.git 9b9278c0b3a633aa7ad634bda2fd2c4f04093dcf
+https://github.com/eProsima/Micro-XRCE-DDS-Client.git e3f6439013a1a9ecb0d4011d19d7a4cec2c84655
 https://github.com/micro-ROS/micro_ros_msgs.git e3664463e78ae5d0c34d86be92d707b3d9dfd27d
 https://github.com/micro-ROS/micro_ros_utilities 1b2d268e11041d2e5cb52226cf5091db0283ea38
 https://github.com/micro-ROS/rcl 3fe55bc35edf939a8e47293043159bff2f198b3a
 https://github.com/micro-ROS/rcutils 9df1f14d7b775a65db8df0d51322c2f86d70dfb7
-https://github.com/micro-ROS/rmw-microxrcedds.git 5f3452034c5ea36952987019b171b29cd667309b
+https://github.com/micro-ROS/rmw-microxrcedds.git ef185f2fda9a00711328de03ef52d8c704ef9cbc
 https://github.com/micro-ROS/rosidl_typesupport.git 68072cab01edb5be964d63555a701f085b95fc01
-https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 8adbc260420199478dd09b14bed34f0af121c7cb
+https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 1310b44fa2fd5327634a39e640a644d2dca745e4
 https://github.com/ros-controls/control_msgs a555c37f1a3536bb452ea555c58fdd9344d87614
 https://github.com/ros2/ament_cmake_ros.git bbbc6ec4dea550f12d68863c558eb7f54be151e4
 https://github.com/ros2/common_interfaces.git 980fc1858d104555f6f260e502c5ed96cd6b6e99
@@ -32,4 +32,4 @@ https://github.com/ros2/rosidl_defaults.git 7409fb6c570dd02f45be86ea1236ceefbdb9
 https://github.com/ros2/test_interface_files.git 33b40020ea05c0a21b9759ac4211ddc9f4332956
 https://github.com/ros2/unique_identifier_msgs.git 44de2e55b1b5f85ec816ff5f49c9ebd06b4eacff
 https://github.com/yaml/libyaml.git 2c891fc7a770e8ba2fec34fc6b545c672beb37e6
-https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing.git/ 214a2afb8746fb3f97b96f44a8be79a0199cbec1
+https://gitlab.com/micro-ROS/ros_tracing/ros2_tracing.git/ b695e4e367fb6e250d3147ab6b851b25a0e50299

libmicroros/include/actionlib_msgs/msg/detail/goal_status__struct.h

@@ -38,7 +38,7 @@ enum
 /// Constant 'PREEMPTED'.
 /**
   * The goal received a cancel request after it started executing
-  * and has since completed its execution (Terminal State).
+  *   and has since completed its execution (Terminal State).
  */
 enum
 {
@@ -48,7 +48,7 @@ enum
 /// Constant 'SUCCEEDED'.
 /**
   * The goal was achieved successfully by the action server
-  *   (Terminal State).
+  * (Terminal State).
  */
 enum
 {
@@ -78,7 +78,7 @@ enum
 /// Constant 'PREEMPTING'.
 /**
   * The goal received a cancel request after it started executing
-  * and has not yet completed execution.
+  *    and has not yet completed execution.
  */
 enum
 {
@@ -88,7 +88,7 @@ enum
 /// Constant 'RECALLING'.
 /**
   * The goal received a cancel request before it started executing, but
-  *    the action server has not yet confirmed that the goal is canceled.
+  * the action server has not yet confirmed that the goal is canceled.
  */
 enum
 {

libmicroros/include/control_msgs/action/detail/follow_joint_trajectory__struct.h

@@ -122,11 +122,11 @@ typedef struct control_msgs__action__FollowJointTrajectory_Result
   /// Human readable description of the error code. Contains complementary
   /// information that is especially useful when execution fails, for instance:
   /// - INVALID_GOAL: The reason for the invalid goal (e.g., the requested
-  /// trajectory is in the past).
+  ///   trajectory is in the past).
   /// - INVALID_JOINTS: The mismatch between the expected controller joints
   /// and those provided in the goal.
   /// - PATH_TOLERANCE_VIOLATED and GOAL_TOLERANCE_VIOLATED: Which joint
-  ///   violated which tolerance, and by how much.
+  /// violated which tolerance, and by how much.
   rosidl_runtime_c__String error_string;
 } control_msgs__action__FollowJointTrajectory_Result;
 

libmicroros/include/control_msgs/msg/detail/joint_tolerance__struct.h

@@ -30,9 +30,9 @@ extern "C"
   * abort.
   *
   * There are two special values for tolerances:
-  * * 0 - The tolerance is unspecified and will remain at whatever the default is
+  *  * 0 - The tolerance is unspecified and will remain at whatever the default is
   * * -1 - The tolerance is "erased".  If there was a default, the joint will be
-  * allowed to move without restriction.
+  *         allowed to move without restriction.
  */
 typedef struct control_msgs__msg__JointTolerance
 {

libmicroros/include/sensor_msgs/msg/detail/camera_info__struct.h

@@ -33,11 +33,11 @@ extern "C"
   * camera namespace on topic "camera_info" and accompanied by up to five
   * image topics named:
   *
-  *   image_raw - raw data from the camera driver, possibly Bayer encoded
-  *   image            - monochrome, distorted
-  * image_color      - color, distorted
-  *   image_rect       - monochrome, rectified
-  *   image_rect_color - color, rectified
+  * image_raw - raw data from the camera driver, possibly Bayer encoded
+  * image            - monochrome, distorted
+  *   image_color      - color, distorted
+  * image_rect       - monochrome, rectified
+  * image_rect_color - color, rectified
   *
   * The image_pipeline contains packages (image_proc, stereo_image_proc)
   * for producing the four processed image topics from image_raw and
@@ -55,7 +55,7 @@ extern "C"
  */
 typedef struct sensor_msgs__msg__CameraInfo
 {
-  /// Image acquisition info                          #
+  ///                     Image acquisition info                          #
   ///
   /// Time of image acquisition, camera coordinate frame ID
   /// Header timestamp should be acquisition time of image
@@ -65,16 +65,16 @@ typedef struct sensor_msgs__msg__CameraInfo
   /// +y should point down in the image
   /// +z should point into the plane of the image
   std_msgs__msg__Header header;
-  ///                      Calibration Parameters                         #
+  /// Calibration Parameters                         #
   ///
   /// These are fixed during camera calibration. Their values will be the #
   /// same in all messages until the camera is recalibrated. Note that    #
   /// self-calibrating systems may "recalibrate" frequently.              #
   ///                                                                     #
   /// The internal parameters can be used to warp a raw (distorted) image #
   /// to:                                                                 #
-  ///   1. An undistorted image (requires D and K)                        #
-  ///   2. A rectified image (requires D, K, R)                           #
+  /// 1. An undistorted image (requires D and K)                        #
+  /// 2. A rectified image (requires D, K, R)                           #
   /// The projection matrix P projects 3D points into the rectified image.#
   ///
   /// The image dimensions with which the camera was calibrated.
@@ -106,30 +106,30 @@ typedef struct sensor_msgs__msg__CameraInfo
   /// Projection/camera matrix
   ///     [fx'  0  cx' Tx]
   /// P = [ 0  fy' cy' Ty]
-  /// [ 0   0   1   0]
+  ///     [ 0   0   1   0]
   /// By convention, this matrix specifies the intrinsic (camera) matrix
-  /// of the processed (rectified) image. That is, the left 3x3 portion
+  ///  of the processed (rectified) image. That is, the left 3x3 portion
   /// is the normal camera intrinsic matrix for the rectified image.
   /// It projects 3D points in the camera coordinate frame to 2D pixel
   /// coordinates using the focal lengths (fx', fy') and principal point
-  ///  (cx', cy') - these may differ from the values in K.
+  /// (cx', cy') - these may differ from the values in K.
   /// For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will
   /// also have R = the identity and P[1:3,1:3] = K.
   /// For a stereo pair, the fourth column [Tx Ty 0]' is related to the
-  /// position of the optical center of the second camera in the first
-  ///  camera's frame. We assume Tz = 0 so both cameras are in the same
+  ///  position of the optical center of the second camera in the first
+  /// camera's frame. We assume Tz = 0 so both cameras are in the same
   /// stereo image plane. The first camera always has Tx = Ty = 0. For
   ///  the right (second) camera of a horizontal stereo pair, Ty = 0 and
-  /// Tx = -fx' * B, where B is the baseline between the cameras.
+  ///  Tx = -fx' * B, where B is the baseline between the cameras.
   /// Given a 3D point [X Y Z]', the projection (x, y) of the point onto
-  ///  the rectified image is given by:
+  /// the rectified image is given by:
   /// [u v w]' = P * [X Y Z 1]'
-  ///         x = u / w
-  /// y = v / w
+  /// x = u / w
+  ///         y = v / w
   /// This holds for both images of a stereo pair.
   /// 3x4 row-major matrix
   double p[12];
-  /// Operational Parameters                         #
+  ///                      Operational Parameters                         #
   ///
   /// These define the image region actually captured by the camera       #
   /// driver. Although they affect the geometry of the output image, they #
@@ -138,17 +138,17 @@ typedef struct sensor_msgs__msg__CameraInfo
   /// Binning refers here to any camera setting which combines rectangular
   ///  neighborhoods of pixels into larger "super-pixels." It reduces the
   /// resolution of the output image to
-  /// (width / binning_x) x (height / binning_y).
+  ///  (width / binning_x) x (height / binning_y).
   /// The default values binning_x = binning_y = 0 is considered the same
-  ///  as binning_x = binning_y = 1 (no subsampling).
+  /// as binning_x = binning_y = 1 (no subsampling).
   uint32_t binning_x;
   uint32_t binning_y;
   /// Region of interest (subwindow of full camera resolution), given in
-  /// full resolution (unbinned) image coordinates. A particular ROI
+  ///  full resolution (unbinned) image coordinates. A particular ROI
   /// always denotes the same window of pixels on the camera sensor,
-  ///  regardless of binning settings.
+  /// regardless of binning settings.
   /// The default setting of roi (all values 0) is considered the same as
-  ///  full resolution (roi.width = width, roi.height = height).
+  /// full resolution (roi.width = width, roi.height = height).
   sensor_msgs__msg__RegionOfInterest roi;
 } sensor_msgs__msg__CameraInfo;
 

libmicroros/include/sensor_msgs/msg/detail/channel_float32__struct.h

@@ -33,12 +33,12 @@ extern "C"
   *
   * Channel names in existing practice include:
   *   "u", "v" - row and column (respectively) in the left stereo image.
-  *              This is opposite to usual conventions but remains for
-  *              historical reasons. The newer PointCloud2 message has no
+  * This is opposite to usual conventions but remains for
+  * historical reasons. The newer PointCloud2 message has no
   * such problem.
-  *   "rgb" - For point clouds produced by color stereo cameras. uint8
+  * "rgb" - For point clouds produced by color stereo cameras. uint8
   * (R,G,B) values packed into the least significant 24 bits,
-  *           in order.
+  * in order.
   *   "intensity" - laser or pixel intensity.
   * "distance"
  */

libmicroros/include/sensor_msgs/msg/detail/compressed_image__struct.h

@@ -39,7 +39,7 @@ typedef struct sensor_msgs__msg__CompressedImage
   /// +z should point into to plane of the image
   std_msgs__msg__Header header;
   /// Specifies the format of the data
-  ///   Acceptable values:
+  /// Acceptable values:
   /// jpeg, png, tiff
   rosidl_runtime_c__String format;
   /// Compressed image buffer

libmicroros/include/sensor_msgs/msg/detail/illuminance__struct.h

@@ -33,9 +33,9 @@ extern "C"
   *
   * All other Photometric and Radiometric measurements should not use this message.
   * This message cannot represent:
-  *  - Luminous intensity (candela/light source output)
+  * - Luminous intensity (candela/light source output)
   * - Luminance (nits/light output per area)
-  *  - Irradiance (watt/area), etc.
+  * - Irradiance (watt/area), etc.
  */
 typedef struct sensor_msgs__msg__Illuminance
 {

libmicroros/include/sensor_msgs/msg/detail/joint_state__struct.h

@@ -33,7 +33,7 @@ extern "C"
   *
   * The state of each joint (revolute or prismatic) is defined by:
   * * the position of the joint (rad or m),
-  * * the velocity of the joint (rad/s or m/s) and
+  *  * the velocity of the joint (rad/s or m/s) and
   *  * the effort that is applied in the joint (Nm or N).
   *
   * Each joint is uniquely identified by its name

libmicroros/include/sensor_msgs/msg/detail/nav_sat_fix__struct.h

@@ -62,12 +62,12 @@ enum
 typedef struct sensor_msgs__msg__NavSatFix
 {
   /// header.stamp specifies the ROS time for this measurement (the
-  /// corresponding satellite time may be reported using the
-  /// sensor_msgs/TimeReference message).
+  ///        corresponding satellite time may be reported using the
+  ///        sensor_msgs/TimeReference message).
   ///
   /// header.frame_id is the frame of reference reported by the satellite
-  /// receiver, usually the location of the antenna.  This is a
-  /// Euclidean frame relative to the vehicle, not a reference
+  ///        receiver, usually the location of the antenna.  This is a
+  ///        Euclidean frame relative to the vehicle, not a reference
   ///        ellipsoid.
   std_msgs__msg__Header header;
   /// Satellite fix status information.

libmicroros/include/statistics_msgs/msg/detail/metrics_message__struct.h

@@ -33,11 +33,11 @@ extern "C"
   * A generic metrics message providing statistics for measurements from different sources. For example,
   * measure a system's CPU % for a given window yields the following data points over a window of time:
   *
-  * - average cpu %
+  *   - average cpu %
   * - std deviation
-  *   - min
+  * - min
   *   - max
-  * - sample count
+  *   - sample count
   *
   * These are all represented as different 'StatisticDataPoint's.
  */

libmicroros/include/stereo_msgs/msg/detail/disparity_image__struct.h

@@ -48,7 +48,7 @@ typedef struct stereo_msgs__msg__DisparityImage
   /// In the disparity image, any disparity less than min_disparity is invalid.
   /// The disparity search range defines the horopter, or 3D volume that the
   /// stereo algorithm can "see". Points with Z outside of:
-  ///     Z_min = fT / max_disparity
+  /// Z_min = fT / max_disparity
   ///     Z_max = fT / min_disparity
   /// could not be found.
   float min_disparity;

libmicroros/include/unique_identifier_msgs/msg/detail/uuid__struct.h

@@ -22,7 +22,7 @@ extern "C"
   * A universally unique identifier (UUID).
   *
   *  http://en.wikipedia.org/wiki/Universally_unique_identifier
-  * http://tools.ietf.org/html/rfc4122.html
+  *  http://tools.ietf.org/html/rfc4122.html
  */
 typedef struct unique_identifier_msgs__msg__UUID
 {

libmicroros/include/uxr/client/config.h

@@ -67,5 +67,18 @@
 
 #define UCLIENT_TWEAK_XRCE_WRITE_LIMIT
 
+/* #undef UCLIENT_HARD_LIVELINESS_CHECK */
+
+#ifdef UCLIENT_HARD_LIVELINESS_CHECK
+#define UXR_CONFIG_HARD_LIVELINESS_CHECK_TIMEOUT_STR     "10000"
+#endif
+
+
+// Version checks
+#if UXR_CLIENT_VERSION_MAJOR >= 3
+#error UCLIENT_HARD_LIVELINESS_CHECK shall be included in session API
+#error MTU must be included in CREATE_CLIENT_Payload properties
+#error Reorder ObjectInfo https://github.com/eProsima/Micro-XRCE-DDS/issues/137
+#endif
 
 #endif // _UXR_CLIENT_CONFIG_H_

libmicroros/include/uxr/client/core/type/xrce_types.h

@@ -24,6 +24,7 @@ extern "C"
 #endif // ifdef __cplusplus
 
 #include <uxr/client/defines.h>
+#include <uxr/client/config.h>
 
 #include <ucdr/microcdr.h>
 #include <stdint.h>
@@ -40,7 +41,24 @@ extern "C"
 #define UXR_SAMPLE_DELTA_SEQUENCE_MAX      8
 #define UXR_PACKED_SAMPLES_SEQUENCE_MAX    8
 #define UXR_TRANSPORT_LOCATOR_SEQUENCE_MAX 4
+
+#ifdef UCLIENT_PROFILE_SHARED_MEMORY
+#define PROFILE_SHARED_MEMORY_SEQ_COUNT 1
+#else
+#define PROFILE_SHARED_MEMORY_SEQ_COUNT 0
+#endif // ifdef UCLIENT_PROFILE_SHARED_MEMORY
+
+#ifdef UCLIENT_HARD_LIVELINESS_CHECK
+#define HARD_LIVELINESS_CHECK_SEQ_COUNT 1
+#else
+#define HARD_LIVELINESS_CHECK_SEQ_COUNT 0
+#endif // ifdef UCLIENT_HARD_LIVELINESS_CHECK
+
+#if  (PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT) == 0
 #define UXR_PROPERTY_SEQUENCE_MAX          1
+#else
+#define UXR_PROPERTY_SEQUENCE_MAX          PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT
+#endif // if  (PROFILE_SHARED_MEMORY_SEQ_COUNT + HARD_LIVELINESS_CHECK_SEQ_COUNT) == 0
 
 typedef struct Time_t
 {

libmicroros/include/uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h

@@ -0,0 +1,32 @@
+// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// 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 UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_
+#define UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif // ifdef __cplusplus
+
+typedef struct uxrTCPPlatform
+{
+    int fd;
+} uxrTCPPlatform;
+
+#ifdef __cplusplus
+}
+#endif // ifdef __cplusplus
+
+#endif // UXR_CLIENT_PROFILE_TRANSPORT_IP_TCP_TCPTRANSPORTPOSIXNOPOLL_H_

libmicroros/include/uxr/client/transport.h

@@ -33,7 +33,9 @@
 #endif //UCLIENT_PROFILE_UDP
 
 #ifdef UCLIENT_PROFILE_TCP
-#if defined(UCLIENT_PLATFORM_POSIX)
+#if defined(UCLIENT_PLATFORM_POSIX_NOPOLL)
+#include <uxr/client/profile/transport/ip/tcp/tcp_transport_posix_nopoll.h>
+#elif defined(UCLIENT_PLATFORM_POSIX)
 #include <uxr/client/profile/transport/ip/tcp/tcp_transport_posix.h>
 #elif defined(UCLIENT_PLATFORM_WINDOWS)
 #include <uxr/client/profile/transport/ip/tcp/tcp_transport_windows.h>

libmicroros/include/uxr/client/util/ping.h

@@ -33,7 +33,7 @@ extern "C"
 #define UXR_PING_BUF 16 // 4 (HEADER SIZE) + 4 (SUBHEADER_SIZE) + 8 (GET_Info payload)
 
 #define GET_INFO_MSG_SIZE   8
-#define GET_INFO_REQUEST_ID 9
+#define GET_INFO_REQUEST_PING_ID 10
 
 struct uxrSession;