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[service introspection] ros2 service echo #745

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merged 5 commits into from
May 22, 2023

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ihasdapie
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@ihasdapie ihasdapie commented Aug 10, 2022

Implementation for proposed REP2012 ros-infrastructure/rep#360

This PR implements ros2 service echo

Related PR: ros2/ros2#1285

Depends on ros2/rclpy#1089

@clalancette
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I've reworked this to be a lot simpler now. It seems to now work fairly well; the only missing thing here is tests, which I'll do another time.

@jacobperron jacobperron removed their assignment May 9, 2023
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@clalancette I've added a test checking that the tool can see all four types of events and content (c6fb6f3). It's not super thorough, but a good smoke test.

@jacobperron jacobperron marked this pull request as ready for review May 12, 2023 08:29
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Thanks! This looks good to me now, so I'm going to go ahead with CI on it. I'd prefer another review (maybe from @jacobperron ) before merging, since I did substantial work here.

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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

ros2service/ros2service/api/__init__.py Outdated Show resolved Hide resolved
ros2service/ros2service/verb/echo.py Outdated Show resolved Hide resolved
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A few suggestions.

ros2service/test/test_echo.py Outdated Show resolved Hide resolved
ros2service/ros2service/verb/echo.py Outdated Show resolved Hide resolved
ros2service/ros2service/api/__init__.py Outdated Show resolved Hide resolved
ros2service/ros2service/api/__init__.py Outdated Show resolved Hide resolved
ros2service/ros2service/api/__init__.py Outdated Show resolved Hide resolved
ros2service/ros2service/api/__init__.py Outdated Show resolved Hide resolved
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ros2service/ros2service/api/__init__.py Outdated Show resolved Hide resolved
deepanshubansal01 and others added 5 commits May 19, 2023 20:40
Signed-off-by: deepanshu <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Launch a test fixture with an introspectable client repeatedly sending requests to an introspectable service.
The test checks that we can see all four expected service events sequentially using the new 'echo' verb.

Signed-off-by: Jacob Perron <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: Chris Lalancette <[email protected]>
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LGTM

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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

@fujitatomoya fujitatomoya merged commit 8523728 into rolling May 22, 2023
@delete-merged-branch delete-merged-branch bot deleted the service_introspection branch May 22, 2023 00:22
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6 participants