Ability to configure domain ID in rclpy

[fujitatomoya]

Feature request

Feature description

ability to set the Domain ID on a per-node basis.

the same ability with ros2/rclcpp#910

Implementation considerations

1. add domain id with rclpy Node Class option. (default RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID)
2. if it is RCL_NODE_OPTIONS_DEFAULT_DOMAIN_ID, the rcl overrides domain id with ROS_DOMAIN_ID environmental variable.

[fujitatomoya]

related to ros2/rclcpp#910

[ivanpauno]

Closing, as I think it has been clarified in ros2/rclcpp#910 (comment).
Please, reopen if not.

[fujitatomoya]

@ivanpauno

this is for the same ability with ros2/rclcpp#910 for rclpy. i believe that this is needed for rclpy also not only for rclcpp.

[ivanpauno]

@ivanpauno

this is for the same ability with ros2/rclcpp#910 for rclpy. i believe that this is needed for rclpy also not only for rclcpp.

Sorry, I didn't understand that.
The title sounds like rclpy is not using ROS_DOMAIN_ID environment variable.
Can you update the description and reopen? Thanks!

[fujitatomoya]

@ivanpauno

The title sounds like rclpy is not using ROS_DOMAIN_ID environment variable.

my bad, that confuses you.

Can you update the description and reopen? Thanks!

will do it right now.

[suab321321]

@ivanpauno sir I would like to contribute to this.

[ivanpauno]

For the same reason than here ros2/rclcpp#910 (comment), it's better to wait now. The other set of PRs will be done soon, after that, this will be unblocked.

[fujitatomoya]

@ivanpauno

this one too, you can leave it to us.

[Barry-Xu-2018]

@ivanpauno @fujitatomoya

After checking current implementation of rclpy, it only supports use default rcl_opitions.

rclpy/rclpy/src/rclpy/_rclpy.c

Lines 523 to 528 in 8f601c6

	/// Initialize rcl with default options, ignoring parameters
	/**
	* Raises RuntimeError if rcl could not be initialized
	*/
	static PyObject *
	rclpy_init(PyObject * Py_UNUSED(self), PyObject * args)

If want to support configuring domain ID, I have to expose InitOption to rclpy.
What do you think ?

[fujitatomoya]

@Barry-Xu-2018

i think we do need to expose InitOption to rclpy, i think that's the idea.

[Barry-Xu-2018]

@Barry-Xu-2018

i think we do need to expose InitOption to rclpy, i think that's the idea.

Thank you.

[Barry-Xu-2018]

@ivanpauno

Friendly ping.
If have time, please look at comment. #484 (comment)
I want to hear your opioin.

[ivanpauno]

@ivanpauno @fujitatomoya

After checking current implementation of rclpy, it only supports use default rcl_opitions.

rclpy/rclpy/src/rclpy/_rclpy.c

Lines 523 to 528 in 8f601c6

	/// Initialize rcl with default options, ignoring parameters
	/**
	* Raises RuntimeError if rcl could not be initialized
	*/
	static PyObject *
	rclpy_init(PyObject * Py_UNUSED(self), PyObject * args)

If want to support configuring domain ID, I have to expose InitOption to rclpy.
What do you think ?

Prefer adding an extra keyword argument to the functions with a default:

rclpy/rclpy/rclpy/__init__.py

Line 62 in 7116fb4

def init(*, args: Optional[List[str]] = None, context: Context = None) -> None:

rclpy/rclpy/rclpy/context.py

Line 36 in 7116fb4

def __init__(self):

Both should have a new , domain_id: int = get_default_domain_id() argument.

In _rclpy.c, you will need to write a new rclpy_get_default_domain_id function, and extend rclpy_init signature with an extra argument.

[Barry-Xu-2018]

@ivanpauno @fujitatomoya
After checking current implementation of rclpy, it only supports use default rcl_opitions.

rclpy/rclpy/src/rclpy/_rclpy.c

Lines 523 to 528 in 8f601c6

	/// Initialize rcl with default options, ignoring parameters
	/**
	* Raises RuntimeError if rcl could not be initialized
	*/
	static PyObject *
	rclpy_init(PyObject * Py_UNUSED(self), PyObject * args)

If want to support configuring domain ID, I have to expose InitOption to rclpy.
What do you think ?

Prefer adding an extra keyword argument to the functions with a default:

rclpy/rclpy/rclpy/__init__.py

Line 62 in 7116fb4

def init(*, args: Optional[List[str]] = None, context: Context = None) -> None:

rclpy/rclpy/rclpy/context.py

Line 36 in 7116fb4

def __init__(self):

Both should have a new , domain_id: int = get_default_domain_id() argument.

In _rclpy.c, you will need to write a new rclpy_get_default_domain_id function, and extend rclpy_init signature with an extra argument.

Thanks for your suggestion.

[ivanpauno]

Both should have a new , domain_id: int = get_default_domain_id() argument.

You could also use the number here as a default value, and rcl will check the environment variable here.

[Barry-Xu-2018]

Both should have a new , domain_id: int = get_default_domain_id() argument.

You could also use the number here as a default value, and rcl will check the environment variable here.

Thanks. Got it.

[Barry-Xu-2018]

@ivanpauno @fujitatomoya

Please review codes.
#596

[fujitatomoya]

CC: @ivanpauno

i am closing this since #596 is merged.