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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

Commits on Feb 26, 2023

  1. Switch Client constructor to use std::string.

    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]>
    clalancette committed Feb 26, 2023
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  2. Implement service introspection in rclpy.

    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]>
    ihasdapie authored and clalancette committed Feb 26, 2023
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  3. Implement service introspection.

    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 committed Feb 26, 2023
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