Imported upstream version '3.5.4' of 'upstream'

ros2-gbp · Aug 14, 2023 · f9eadf3 · f9eadf3
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diff --git a/swri_cli_tools/CHANGELOG.rst b/swri_cli_tools/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package swri_cli_tools
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.5.4 (2023-08-14)
+------------------
+
 3.5.3 (2023-06-07)
 ------------------
 * Adding missing python dependency (`#708 <https://github.com/swri-robotics/marti_common/issues/708>`_)

diff --git a/swri_cli_tools/package.xml b/swri_cli_tools/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>swri_cli_tools</name>
-  <version>3.5.3</version>
+  <version>3.5.4</version>
   <description>Command line tools for introspecting ROS systems</description>
   <maintainer email="[email protected]">Southwest Research Institute</maintainer>
   <author email="[email protected]">David Anthony</author>

diff --git a/swri_cli_tools/setup.py b/swri_cli_tools/setup.py
@@ -5,7 +5,7 @@
 
 setup(
     name=package_name,
-    version='3.5.3',
+    version='3.5.4',
     packages=find_packages(exclude=['test']),
     data_files=[
         ('share/' + package_name, ['package.xml']),

diff --git a/swri_console_util/CHANGELOG.rst b/swri_console_util/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package swri_console_util
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.5.4 (2023-08-14)
+------------------
+
 3.5.3 (2023-06-07)
 ------------------
 

diff --git a/swri_console_util/package.xml b/swri_console_util/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>swri_console_util</name>
-  <version>3.5.3</version>
+  <version>3.5.4</version>
   <description>
 
      swri_console_util

diff --git a/swri_dbw_interface/CHANGELOG.rst b/swri_dbw_interface/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package swri_dbw_interface
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.5.4 (2023-08-14)
+------------------
+
 3.5.3 (2023-06-07)
 ------------------
 

diff --git a/swri_dbw_interface/package.xml b/swri_dbw_interface/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>swri_dbw_interface</name>
-  <version>3.5.3</version>
+  <version>3.5.4</version>
   <description>
     This package provides documentation on common interface conventions for
     drive-by-wire systems.

diff --git a/swri_geometry_util/CHANGELOG.rst b/swri_geometry_util/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package swri_geometry_util
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.5.4 (2023-08-14)
+------------------
+
 3.5.3 (2023-06-07)
 ------------------
 

diff --git a/swri_geometry_util/package.xml b/swri_geometry_util/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>swri_geometry_util</name>
-  <version>3.5.3</version>
+  <version>3.5.4</version>
   <description>
 
      swri_geometry_util

diff --git a/swri_image_util/CHANGELOG.rst b/swri_image_util/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package swri_image_util
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.5.4 (2023-08-14)
+------------------
+
 3.5.3 (2023-06-07)
 ------------------
 * Fix Iron CvBridge Warnings (`#711 <https://github.com/swri-robotics/marti_common/issues/711>`_)

diff --git a/swri_image_util/package.xml b/swri_image_util/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>swri_image_util</name>
-  <version>3.5.3</version>
+  <version>3.5.4</version>
   <description>
 
      swri_image_util

diff --git a/swri_math_util/CHANGELOG.rst b/swri_math_util/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package swri_math_util
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.5.4 (2023-08-14)
+------------------
+
 3.5.3 (2023-06-07)
 ------------------
 

diff --git a/swri_math_util/package.xml b/swri_math_util/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>swri_math_util</name>
-  <version>3.5.3</version>
+  <version>3.5.4</version>
   <description>
 
      swri_math_util

diff --git a/swri_opencv_util/CHANGELOG.rst b/swri_opencv_util/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package swri_opencv_util
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.5.4 (2023-08-14)
+------------------
+
 3.5.3 (2023-06-07)
 ------------------
 

diff --git a/swri_opencv_util/package.xml b/swri_opencv_util/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>swri_opencv_util</name>
-  <version>3.5.3</version>
+  <version>3.5.4</version>
   <description>
 
      swri_opencv_util

diff --git a/swri_prefix_tools/CHANGELOG.rst b/swri_prefix_tools/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package swri_prefix_tools
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.5.4 (2023-08-14)
+------------------
+
 3.5.3 (2023-06-07)
 ------------------
 

diff --git a/swri_prefix_tools/package.xml b/swri_prefix_tools/package.xml
@@ -1,6 +1,6 @@
 <package format="3">
   <name>swri_prefix_tools</name>
-  <version>3.5.3</version>
+  <version>3.5.4</version>
   <description>
 
     Contains scripts that are useful as prefix commands for nodes

diff --git a/swri_roscpp/CHANGELOG.rst b/swri_roscpp/CHANGELOG.rst
@@ -2,6 +2,13 @@
 Changelog for package swri_roscpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.5.4 (2023-08-14)
+------------------
+* Add publisher and subscription options to constructors (`#714 <https://github.com/swri-robotics/marti_common/issues/714>`_)
+* Use System QoS Settings as Defaults (`#713 <https://github.com/swri-robotics/marti_common/issues/713>`_)
+* Adding wrapper for unique_ptr arguments (`#712 <https://github.com/swri-robotics/marti_common/issues/712>`_)
+* Contributors: David Anthony, Veronica Knisley
+
 3.5.3 (2023-06-07)
 ------------------
 * Fixing build warnings (`#707 <https://github.com/swri-robotics/marti_common/issues/707>`_)

diff --git a/swri_roscpp/include/swri_roscpp/publisher.h b/swri_roscpp/include/swri_roscpp/publisher.h
@@ -38,7 +38,8 @@ namespace swri
       rclcpp::Node &nh,
       const std::string name,
       uint32_t queue_size,
-      bool latched=false)
+      bool latched=false,
+      rclcpp::PublisherOptions pub_options=rclcpp::PublisherOptions())
   {
     RCLCPP_INFO(nh.get_logger(), "Publishing [%s].",
                 name.c_str());
@@ -47,7 +48,7 @@ namespace swri
     {
       qos = qos.transient_local();
     }
-    return nh.create_publisher<M>(name, qos);
+    return nh.create_publisher<M>(name, qos, pub_options);
   }
 }  // namespace swri
 #endif  // SWRI_ROSCPP_PUBLISHER_H_
diff --git a/swri_roscpp/include/swri_roscpp/subscriber.h b/swri_roscpp/include/swri_roscpp/subscriber.h
@@ -29,7 +29,6 @@
 #ifndef SWRI_ROSCPP_SUBSCRIBER_H_
 #define SWRI_ROSCPP_SUBSCRIBER_H_
 
-
 #include <rclcpp/rclcpp.hpp>
 #include <diagnostic_updater/diagnostic_status_wrapper.hpp>
 
@@ -77,15 +76,40 @@ class Subscriber
              uint32_t queue_size,
              void(T::*fp)(const std::shared_ptr< M const > &),
              T *obj,
-             const rclcpp::QoS& transport_hints = rclcpp::QoS(1));
+             const rclcpp::QoS& transport_hints = rclcpp::QoS(
+              rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)),
+             const rclcpp::SubscriptionOptions sub_options = rclcpp::SubscriptionOptions());
 
-  // Using a boost function callback.
+  // Using a standard function callback.
   template<class M>
   Subscriber(rclcpp::Node &nh,
              const std::string &topic,
              uint32_t queue_size,
              const std::function<void(const std::shared_ptr<M const> &)> &callback,
-             const rclcpp::QoS& transport_hints = rclcpp::QoS(1));
+             const rclcpp::QoS& transport_hints = rclcpp::QoS(
+              rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)),
+             const rclcpp::SubscriptionOptions sub_options = rclcpp::SubscriptionOptions());
+
+  // Versions of the previous functions, but with unique pointers for the
+  // message instead of shared pointers
+  template<class M , class T >
+  Subscriber(rclcpp::Node &nh,
+             const std::string &topic,
+             uint32_t queue_size,
+             void(T::*fp)(const std::unique_ptr< M const > &),
+             T *obj,
+             const rclcpp::QoS& transport_hints = rclcpp::QoS(
+              rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)),
+             const rclcpp::SubscriptionOptions sub_options = rclcpp::SubscriptionOptions());
+
+  template<class M>
+  Subscriber(rclcpp::Node &nh,
+             const std::string &topic,
+             uint32_t queue_size,
+             const std::function<void(const std::unique_ptr<M const> &)> &callback,
+             const rclcpp::QoS& transport_hints = rclcpp::QoS(
+              rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)),
+             const rclcpp::SubscriptionOptions sub_options = rclcpp::SubscriptionOptions());
 
   // This is an alternate interface that stores a received message in
   // a variable without calling a user-defined callback function.
@@ -96,8 +120,10 @@ class Subscriber
   Subscriber(rclcpp::Node &nh,
              const std::string &topic,
              std::shared_ptr< M const > *dest,
-             const rclcpp::QoS& transport_hints = rclcpp::QoS(1));
-
+             const rclcpp::QoS& transport_hints = rclcpp::QoS(
+              rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)),
+             const rclcpp::SubscriptionOptions sub_options = rclcpp::SubscriptionOptions());
+
   Subscriber& operator=(const Subscriber &other);
 
   // Reset all statistics, including message and timeout counts.
@@ -143,7 +169,7 @@ class Subscriber
   // Provide a negative value to disable the timeout (default is -1).
   void setTimeout(const rclcpp::Duration &time_out);
   void setTimeout(const double time_out);
-  
+
   // Block/unblock timeouts from occuring.  This allows you to
   // temporarily block timeouts (for example, if a message is not
   // expected in a particular mode).  Returns the current state
@@ -208,11 +234,12 @@ Subscriber::Subscriber(rclcpp::Node &nh,
                        uint32_t queue_size,
                        void(T::*fp)(const std::shared_ptr< M const > &),
                        T *obj,
-                       const rclcpp::QoS& transport_hints)
+                       const rclcpp::QoS& transport_hints,
+                       const rclcpp::SubscriptionOptions sub_options)
 {
   impl_ = std::shared_ptr<SubscriberImpl>(
     new TypedSubscriberImpl<M,T>(
-      nh, topic, queue_size, fp, obj, transport_hints));
+      nh, topic, queue_size, fp, obj, transport_hints, sub_options));
 }
 
 template<class M>
@@ -221,23 +248,25 @@ Subscriber::Subscriber(rclcpp::Node &nh,
                        const std::string &topic,
                        uint32_t queue_size,
                        const std::function<void(const std::shared_ptr<M const> &)> &callback,
-                       const rclcpp::QoS& transport_hints)
+                       const rclcpp::QoS& transport_hints,
+                       const rclcpp::SubscriptionOptions sub_options)
 {
   impl_ = std::shared_ptr<SubscriberImpl>(
     new BindSubscriberImpl<M>(
-      nh, topic, queue_size, callback, transport_hints));
+      nh, topic, queue_size, callback, transport_hints, sub_options));
 }
 
 template<class M>
 inline
 Subscriber::Subscriber(rclcpp::Node &nh,
                        const std::string &topic,
                        std::shared_ptr< M const > *dest,
-                       const rclcpp::QoS& transport_hints)
+                       const rclcpp::QoS& transport_hints,
+                       const rclcpp::SubscriptionOptions sub_options)
 {
   impl_ = std::shared_ptr<SubscriberImpl>(
     new StorageSubscriberImpl<M>(
-      nh, topic, dest, transport_hints));
+      nh, topic, dest, transport_hints, sub_options));
 }
 
 inline

diff --git a/swri_roscpp/include/swri_roscpp/subscriber_impl.h b/swri_roscpp/include/swri_roscpp/subscriber_impl.h
@@ -311,7 +311,8 @@ namespace swri
         uint32_t queue_size,
         void(T::*fp)(const std::shared_ptr<const M> &),
         T *obj,
-        const rclcpp::QoS& transport_hints)
+        const rclcpp::QoS& transport_hints,
+        const rclcpp::SubscriptionOptions sub_options = rclcpp::SubscriptionOptions())
     {
       unmapped_topic_ = topic;
       // mapped_topic_ = nh->ResolveName(topic);
@@ -330,7 +331,8 @@ namespace swri
       sub_ = nh_->create_subscription<M>(unmapped_topic_,
                                          hints,
                                          std::bind(&TypedSubscriberImpl::handleMessage<const M>,
-                                                   this, std::placeholders::_1)
+                                                   this, std::placeholders::_1),
+                                         sub_options
                                          );
     }
 
@@ -365,7 +367,8 @@ namespace swri
         const std::string &topic,
         uint32_t queue_size,
         const std::function<void(const std::shared_ptr<const M>)> &callback,
-        const rclcpp::QoS& transport_hints)
+        const rclcpp::QoS& transport_hints,
+        const rclcpp::SubscriptionOptions sub_options = rclcpp::SubscriptionOptions())
     {
       unmapped_topic_ = topic;
       //mapped_topic_ = nh->ResolveName(topic);
@@ -380,7 +383,8 @@ namespace swri
       sub_ = nh_->create_subscription<M>(unmapped_topic_,
                                          hints,
                                          std::bind(&BindSubscriberImpl::handleMessage<M>,
-                                                   this, std::placeholders::_1)
+                                                   this, std::placeholders::_1),
+                                         sub_options
                                         );
     }
 
@@ -413,7 +417,8 @@ namespace swri
         rclcpp::Node& nh,
         const std::string &topic,
         std::shared_ptr< const M > *dest,
-        const rclcpp::QoS& transport_hints)
+        const rclcpp::QoS& transport_hints,
+        const rclcpp::SubscriptionOptions sub_options = rclcpp::SubscriptionOptions())
     {
       unmapped_topic_ = topic;
       //mapped_topic_ = nh->ResolveName(topic);
@@ -425,7 +430,8 @@ namespace swri
       sub_ = nh_->create_subscription<M>(unmapped_topic_,
                                          transport_hints,
                                          std::bind(&StorageSubscriberImpl::handleMessage<M>,
-                                                   this, std::placeholders::_1)
+                                                   this, std::placeholders::_1),
+                                         sub_options
                                          );
     }
 

diff --git a/swri_roscpp/package.xml b/swri_roscpp/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 <package format="3">
   <name>swri_roscpp</name>
-  <version>3.5.3</version>
+  <version>3.5.4</version>
   <description>
 
      swri_roscpp

diff --git a/swri_route_util/CHANGELOG.rst b/swri_route_util/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package swri_route_util
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.5.4 (2023-08-14)
+------------------
+
 3.5.3 (2023-06-07)
 ------------------
 

diff --git a/swri_route_util/package.xml b/swri_route_util/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>swri_route_util</name>
-  <version>3.5.3</version>
+  <version>3.5.4</version>
 
   <description>
     This library provides functionality to simplify working with the