ros2 · cardboardcode · Jul 26, 2022 · Aug 8, 2022 · Aug 8, 2022 · Aug 18, 2022
diff --git a/CODEOWNERS b/CODEOWNERS
@@ -0,0 +1,2 @@
+# This file was generated by https://github.com/audrow/update-ros2-repos
+* @adityapande-1995 @audrow @mjeronimo
diff --git a/action_tutorials/README.md b/action_tutorials/README.md
@@ -0,0 +1,21 @@
+# ROS2 Action Tutorials
+
+This tutorial demonstrates implementing ROS action servers and action clients.
+
+The action server in this case takes in an integer value between 0 and 45 named *order* and returns the Fibonacci sequence, a sequence with the form:
+$$F_0 = 0$$
+$$F_1 = 1$$
+$$F_{order}=F_{order-1} + F_{order-2}$$
+
+The action server calculates each number in the sequence one at a time and returns a partial sequence as feedback at each iteration. 
+If the action is cancelled before the entire sequence is calculated, the server stops calculating the sequence and no result is returned.
+The action client in this tutorial sends a goal to the action server with an order of 10.
+It logs each partial sequence returned as feedback. 
+Once the action is finished executing, the action client logs the resulting sequence.
+
+## Packages
+
+- [action_tutorials_cpp](./action_tutorials_cpp) implements the described action server and client using the rclcpp library in C++.
+- [action_tutorials_py](./action_tutorials_py) implements the described action server and client using the rclpy library in Python.
+- [action_tutorials_interfaces](./action_tutorials_interfaces) defines the interface for the Fibonacci action.
+This interface takes an *order* as a goal, returns a *partial sequence* as feedback and a *sequence* as a result.
diff --git a/action_tutorials/action_tutorials_cpp/CHANGELOG.rst b/action_tutorials/action_tutorials_cpp/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package action_tutorials_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.23.0 (2022-11-02)
+-------------------
+
+0.22.0 (2022-09-13)
+-------------------
+* Fix two small bugs in the fibonacci C++ tutorial. (`#564 <https://github.com/ros2/demos/issues/564>`_)
+* Contributors: Chris Lalancette
+
 0.21.0 (2022-04-29)
 -------------------
 

diff --git a/action_tutorials/action_tutorials_cpp/CMakeLists.txt b/action_tutorials/action_tutorials_cpp/CMakeLists.txt
@@ -6,9 +6,10 @@ if(NOT CMAKE_C_STANDARD)
   set(CMAKE_C_STANDARD 99)
 endif()
 
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

diff --git a/action_tutorials/action_tutorials_cpp/README.md b/action_tutorials/action_tutorials_cpp/README.md
@@ -0,0 +1,67 @@
+# Action Server
+
+In the constructor for `FibonacciActionServer`, an action server is created with callbacks that are called when a goal is received, when the goal is cancelled, and when the goal is accepted:
+
+```cpp
+this->action_server_ = rclcpp_action::create_server<Fibonacci>(
+  ...
+  "fibonacci",
+  std::bind(&FibonacciActionServer::handle_goal, this, _1, _2),
+  std::bind(&FibonacciActionServer::handle_cancel, this, _1),
+  std::bind(&FibonacciActionServer::handle_accepted, this, _1));
+```
+
+The `handle_goal` callback is called whenever a goal is sent to the action server by an action client.
+In the example code, the goal is accepted as long as the order is less than or equal to 46, otherwise it is rejected.
+This is to prevent potential [integer overflow](https://en.wikipedia.org/wiki/Integer_overflow):
+```cpp
+if (goal->order > 46) {
+  return rclcpp_action::GoalResponse::REJECT;
+}
+return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
+```
+
+The `handle_cancelled` callback is called whenever an action client requests to cancel the goal being executed.
+In this case, the goal cancel request is always accepted.
+
+The `handle_accepted` callback is called following the action server's acceptance of a goal. In this example, a thread is started to execute the goal:
+```cpp
+std::thread{std::bind(&FibonacciActionServer::execute, this, _1), goal_handle}.detach();
+```
+
+The execution thread calculates the Fibonacci sequence up to *order* and publishes partial sequences as feedback as each item is added to the sequence. 
+
+A `rclcpp::Rate` object is used to sleep between the calculation of each item in order to represent a long-running task.
+
+When execution is complete, the full sequence is returned to the action client.
+If the goal is cancelled during execution, no result is returned, however the caller may have received partial sequences as feedback up until cancelling.
+
+# Action Client
+
+In the constructor for `FibonacciActionClient`, and action client for the `fibonacci` action is created:
+
+```cpp
+this->client_ptr_ = rclcpp_action::create_client<Fibonacci>(
+      ...
+      "fibonacci");
+```
+
+A goal of type `Fibonacci` is created with order 10. 
+The goal is sent asynchronously with callbacks registered for the goal response, the feedback, and the goal result:
+
+```cpp
+auto send_goal_options = rclcpp_action::Client<Fibonacci>::SendGoalOptions();
+send_goal_options.goal_response_callback =
+  std::bind(&FibonacciActionClient::goal_response_callback, this, _1);
+send_goal_options.feedback_callback =
+  std::bind(&FibonacciActionClient::feedback_callback, this, _1, _2);
+send_goal_options.result_callback =
+  std::bind(&FibonacciActionClient::result_callback, this, _1);
+this->client_ptr_->async_send_goal(goal_msg, send_goal_options);
+```
+
+There are three types of callback functions:
+
+- The `goal_response_callback` is called when the action server accepts or rejects the goal.
+- The `feedback_callback` is called whenever the action server sends goal execution feedback.
+- The `goal_result_callback` is called when the action server is finished executing the goal and returns the result of the goal which is the full or partial Fibonacci sequence.
diff --git a/action_tutorials/action_tutorials_cpp/package.xml b/action_tutorials/action_tutorials_cpp/package.xml
@@ -2,9 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>action_tutorials_cpp</name>
-  <version>0.21.0</version>
+  <version>0.23.0</version>
   <description>C++ action tutorial cpp code</description>
 
+  <maintainer email="[email protected]">Aditya Pande</maintainer>
   <maintainer email="[email protected]">Audrow Nash</maintainer>
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
 

diff --git a/action_tutorials/action_tutorials_interfaces/CHANGELOG.rst b/action_tutorials/action_tutorials_interfaces/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package action_tutorials_interfaces
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.23.0 (2022-11-02)
+-------------------
+
+0.22.0 (2022-09-13)
+-------------------
+* Remove action_msgs dependency (`#580 <https://github.com/ros2/demos/issues/580>`_)
+* Contributors: Jacob Perron
+
 0.21.0 (2022-04-29)
 -------------------
 

diff --git a/action_tutorials/action_tutorials_interfaces/README.md b/action_tutorials/action_tutorials_interfaces/README.md
@@ -0,0 +1,10 @@
+# Action Tutorials ROS2 Interface
+
+This tutorial defines the Fibonacci action for use with the action tutorials.
+There are three parts of the action:
+
+- The goal contains an *order* field which determines the length of the returned Fibonacci sequence.
+For example, order 2 should return sequence [0, 1] and order 5 should return sequence [0, 1, 1, 2, 3].
+- The feedback consists of a partial sequence that is returned as the Fibonacci sequence is calculated.
+For example, for order 5 at some point the partial sequence [0, 1, 1] will be returned.
+- The result consists of the complete Fibonacci sequence (ex. [0, 1, 1, 2, ..., 165580141]).
diff --git a/action_tutorials/action_tutorials_interfaces/package.xml b/action_tutorials/action_tutorials_interfaces/package.xml
@@ -2,9 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>action_tutorials_interfaces</name>
-  <version>0.21.0</version>
+  <version>0.23.0</version>
   <description>Action tutorials action</description>
 
+  <maintainer email="[email protected]">Aditya Pande</maintainer>
   <maintainer email="[email protected]">Audrow Nash</maintainer>
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
 
@@ -16,8 +17,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
-  <depend>action_msgs</depend>
-
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/action_tutorials/action_tutorials_py/CHANGELOG.rst b/action_tutorials/action_tutorials_py/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package action_tutorials_py
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.23.0 (2022-11-02)
+-------------------
+
+0.22.0 (2022-09-13)
+-------------------
+
 0.21.0 (2022-04-29)
 -------------------
 

diff --git a/action_tutorials/action_tutorials_py/README.md b/action_tutorials/action_tutorials_py/README.md
@@ -0,0 +1,51 @@
+# Action Server
+
+In the constructor for `FibonacciActionServer`, an action server is created with a callback that is called when a goal is accepted.
+```python
+self._action_server = ActionServer(
+            self,
+            Fibonacci,
+            'fibonacci',
+            self.execute_callback)
+```
+
+There are three types of callbacks:
+
+- A `goal_callback` can optionally be added to conditionally accept or reject the goal, however, by default the goal is accepted.
+- A `cancel_callback` can also optionally be added to conditionally accept or reject the cancel goal request, however, by default the cancel goal request is accepted.
+- The `execute_callback` calculates the Fibonacci sequence up to *order* and publishes partial sequences as feedback as each item is added to the sequence.
+
+The thread sleeps for 1 second between the calculation of each item in order to represent a long-running task.
+When execution is complete, the full sequence is returned to the action client.
+
+# Action Client
+
+In the constructor for `FibonacciActionClient`, an action client for the `fibonacci` action is created:
+
+```python
+self._action_client = ActionClient(self, Fibonacci, 'fibonacci')
+```
+
+A goal of type `Fibonacci` is created with order 10.
+The goal is sent asynchronously with callbacks registered for the goal response and the feedback:
+
+```python
+self._send_goal_future = self._action_client.send_goal_async(
+            goal_msg,
+            feedback_callback=self.feedback_callback)
+
+self._send_goal_future.add_done_callback(self.goal_response_callback)
+```
+
+Within the `goal_response_callback`, if the goal is accepted, the goal result is requested asynchronously.
+A callback is registered for receiving the result:
+```python
+self._get_result_future = goal_handle.get_result_async()
+
+self._get_result_future.add_done_callback(self.get_result_callback)
+```
+
+There are two types of callbacks:
+
+- The `feedback_callback` logs the partial sequences as they are received.
+- The `get_result_callback` logs the full Fibonacci sequence.
diff --git a/action_tutorials/action_tutorials_py/package.xml b/action_tutorials/action_tutorials_py/package.xml
@@ -2,9 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>action_tutorials_py</name>
-  <version>0.21.0</version>
+  <version>0.23.0</version>
   <description>Python action tutorial code</description>
 
+  <maintainer email="[email protected]">Aditya Pande</maintainer>
   <maintainer email="[email protected]">Audrow Nash</maintainer>
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
 

diff --git a/action_tutorials/action_tutorials_py/setup.py b/action_tutorials/action_tutorials_py/setup.py
@@ -4,7 +4,7 @@
 
 setup(
     name=package_name,
-    version='0.21.0',
+    version='0.23.0',
     packages=[package_name],
     data_files=[
         ('share/ament_index/resource_index/packages',
@@ -15,8 +15,8 @@
     zip_safe=True,
     author='Jacob Perron',
     author_email='[email protected]',
-    maintainer='Audrow Nash, Michael Jeronimo',
-    maintainer_email='[email protected], [email protected]',
+    maintainer='Aditya Pande, Audrow Nash, Michael Jeronimo',
+    maintainer_email='[email protected], [email protected], [email protected]',  # noqa: E501
     keywords=['ROS'],
     classifiers=[
         'Intended Audience :: Developers',

diff --git a/composition/CHANGELOG.rst b/composition/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package composition
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.23.0 (2022-11-02)
+-------------------
+* fix memory leak (`#585 <https://github.com/ros2/demos/issues/585>`_)
+* Contributors: Chen Lihui
+
+0.22.0 (2022-09-13)
+-------------------
+
 0.21.0 (2022-04-29)
 -------------------
 

diff --git a/composition/CMakeLists.txt b/composition/CMakeLists.txt
@@ -2,9 +2,10 @@ cmake_minimum_required(VERSION 3.5)
 
 project(composition)
 
-# Default to C++14
+# Default to C++17
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

diff --git a/composition/package.xml b/composition/package.xml
@@ -2,9 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>composition</name>
-  <version>0.21.0</version>
+  <version>0.23.0</version>
   <description>Examples for composing multiple nodes in a single process.</description>
 
+  <maintainer email="[email protected]">Aditya Pande</maintainer>
   <maintainer email="[email protected]">Audrow Nash</maintainer>
   <maintainer email="[email protected]">Michael Jeronimo</maintainer>
 

diff --git a/composition/src/dlopen_composition.cpp b/composition/src/dlopen_composition.cpp
@@ -14,6 +14,7 @@
 
 #include <memory>
 #include <string>
+#include <utility>
 #include <vector>
 
 #include "class_loader/class_loader.hpp"
@@ -35,7 +36,7 @@ int main(int argc, char * argv[])
   rclcpp::Logger logger = rclcpp::get_logger(DLOPEN_COMPOSITION_LOGGER_NAME);
   rclcpp::executors::SingleThreadedExecutor exec;
   rclcpp::NodeOptions options;
-  std::vector<class_loader::ClassLoader *> loaders;
+  std::vector<std::unique_ptr<class_loader::ClassLoader>> loaders;
   std::vector<rclcpp_components::NodeInstanceWrapper> node_wrappers;
 
   std::vector<std::string> libraries;
@@ -44,7 +45,7 @@ int main(int argc, char * argv[])
   }
   for (auto library : libraries) {
     RCLCPP_INFO(logger, "Load library %s", library.c_str());
-    auto loader = new class_loader::ClassLoader(library);
+    auto loader = std::make_unique<class_loader::ClassLoader>(library);
     auto classes = loader->getAvailableClasses<rclcpp_components::NodeFactory>();
     for (auto clazz : classes) {
       RCLCPP_INFO(logger, "Instantiate class %s", clazz.c_str());
@@ -54,7 +55,7 @@ int main(int argc, char * argv[])
       node_wrappers.push_back(wrapper);
       exec.add_node(node);
     }
-    loaders.push_back(loader);
+    loaders.push_back(std::move(loader));
   }
 
   exec.spin();

diff --git a/demo_nodes_cpp/CHANGELOG.rst b/demo_nodes_cpp/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package demo_nodes_cpp
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.23.0 (2022-11-02)
+-------------------
+* Demo for pre and post set parameter callback support (`#565 <https://github.com/ros2/demos/issues/565>`_)
+  * local parameter callback support
+* Contributors: Deepanshu Bansal
+
+0.22.0 (2022-09-13)
+-------------------
+* counter starts from 1, not 2. (`#562 <https://github.com/ros2/demos/issues/562>`_)
+* add a demo of content filter listener (`#557 <https://github.com/ros2/demos/issues/557>`_)
+* Contributors: Chen Lihui, Tomoya Fujita
+
 0.21.0 (2022-04-29)
 -------------------
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		# This file was generated by https://github.com/audrow/update-ros2-repos
		* @adityapande-1995 @audrow @mjeronimo