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Service introspection #988

Merged
merged 3 commits into from
Feb 28, 2023
Merged

Service introspection #988

merged 3 commits into from
Feb 28, 2023

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ihasdapie
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@ihasdapie ihasdapie commented Aug 10, 2022

This PR is part of a prototype implementation for ros-infrastructure/rep#360 ros2/ros2#1285.

Depends on: ros2/rcl#997

@ihasdapie ihasdapie mentioned this pull request Aug 10, 2022
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@ihasdapie ihasdapie force-pushed the service_introspection branch 2 times, most recently from 8bae776 to 6b27b3d Compare August 26, 2022 09:01
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Tests introduced in d5cebe9 depend on #997

@clalancette clalancette force-pushed the service_introspection branch 2 times, most recently from cba173e to 376ddca Compare February 6, 2023 17:50
@clalancette clalancette force-pushed the service_introspection branch 5 times, most recently from 67fdcaa to 869b7a5 Compare February 21, 2023 18:35
@clalancette clalancette marked this pull request as ready for review February 21, 2023 18:35
@clalancette clalancette marked this pull request as draft February 22, 2023 19:04
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This has been substantially rewritten now, so I'm going to dismiss all of the review comments, and pull this out of draft.

@clalancette clalancette marked this pull request as ready for review February 23, 2023 22:10
clalancette and others added 3 commits February 26, 2023 14:38
This make it more similar to the Service constructor.
Also make both of them use const std::string & to
avoid a copy.

Signed-off-by: Chris Lalancette <[email protected]>
Add in the parameters to control it, as well as the correct
calls into the underlying rcl implementation.  Also add in
tests.

Signed-off-by: Brian Chen <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
To do this, we add a new method on the Client and
Service classes that allows the user to change the
introspection method at runtime.  These end up calling
into the rcl layer to do the actual configuration,
at which point service introspection messages will be
sent as configured.

Signed-off-by: Chris Lalancette <[email protected]>
@clalancette clalancette merged commit 8c5cbbf into rolling Feb 28, 2023
@delete-merged-branch delete-merged-branch bot deleted the service_introspection branch February 28, 2023 18:42
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I should mention that CI for this is in ros2/ros2#1285 (comment)

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3 participants