# embedding_metadata

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part of the package build procedure.Library level static code analysis needs to be executed manually.Risk of forgetting to execute library level static code analysis before building a new package version.Solution:Use the integration capabilities ofamentto execute static code analysis as part of the package build procedure.Implementation:Insert into the packagesCMakeLists.txtfile....if(BUILD_TESTING)find_package(ament_lint_autoREQUIRED)ament_lint_auto_find_test_dependencies()... endif()...Insert theament_linttest dependencies into the packagespackage.xmlfile.... <packageformat="2">...<test_depend>ament_lint_auto</test_depend><test_depend>ament_lint_common</test_depend>... </package>Examples:rclcpp:rclcpp/rclcpp/CMakeLists.txtrclcpp/rclcpp/package.xmlrclcpp_lifecycle:rclcpp/rclcpp_lifecycle/CMakeLists.txtrclcpp/rclcpp_lifecycle/package.xmlResulting context:The static code analysis tools supported byamentare run as part of the package build.Static code analysis tools not supported byamentneed to be executed


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code analysis tools not supported byamentneed to be executed separately.Static Thread Safety Analysis via Code AnnotationContext:You are developing/debugging your multithreaded C++ production codeYou access data from multiple threads in C++ codeProblem:Data races and deadlocks can lead to critical bugs.Solution:Utilize Clang’s staticThread Safety Analysisby annotating threaded codeContext For Implementation:To enable Thread Safety Analysis, code must be annotated to let the compiler know more about the semantics of the code. These annotations are Clang-specific attributes - e.g.__attribute__(capability())). Instead of using those attributes directly, ROS 2 provides preprocessor macros that are erased when using other compilers.These macros can be found inrcpputils/thread_safety_annotations.hppThe Thread Safety Analysis documentation statesThread safety analysis can be used with any threading library, but it does require that the threading API be wrapped in classes and methods which have the appropriate


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be wrapped in classes and methods which have the appropriate annotationsWe have decided that we want ROS 2 developers to be able to usestd::threading primitives directly for their development. We do not want to provide our own wrapped types as is suggested above.There are three C++ standard libraries to be aware ofThe GNU standard librarylibstdc++- default on Linux, explicitly via the compiler option-stdlib=libstdc++The LLVM standard librarylibc++(also calledlibcxx) - default on macOS,  explicitly set by the compiler option-stdlib=libc++The Windows C++ Standard Library - not relevant to this use caselibcxxannotates itsstd::mutexandstd::lock_guardimplementations for Thread Safety Analysis. When using GNUlibstdc++, those annotations are not present, so Thread Safety Analysis cannot be used on non-wrappedstd::types.Therefore, to use Thread Safety Analysis directly withstd::types, we must uselibcxxImplementation:The code migration suggestions here are by no means complete - when writing (or annotating existing)


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by no means complete - when writing (or annotating existing) threaded code, you are encouraged to utilize as many of the annotations as is logical for your use case. However, this step-by-step is a great place to start!Enabling Analysis for Package/TargetWhen the C++ compiler is Clang, enable the-Wthread-safetyflag. Example below for CMake-based projectsif(CMAKE_CXX_COMPILER_IDMATCHES"Clang")add_compile_options(-Wthread-safety)# for your whole packagetarget_compile_options(${MY_TARGET}PUBLIC-Wthread-safety)# for a single library or executableendif()Annotating CodeStep 1 - Annotate data membersFind anywhere thatstd::mutexis used to protect some member dataAdd theRCPPUTILS_TSA_GUARDED_BY(mutex_name)annotation to the data that is protected by the mutexclassFoo{public:voidincr(intamount){std::lock_guard<std::mutex>lock(mutex_);bar+=amount;}voidget()const{returnbar;}private:mutablestd::mutexmutex_;intbarRCPPUTILS_TSA_GUARDED_BY(mutex_)=0;};Step 2 - Fix WarningsIn the above example -Foo::getwill produce a compiler


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WarningsIn the above example -Foo::getwill produce a compiler warning! To fix it, lock before returning barvoidget()const{std::lock_guard<std::mutex>lock(mutex_);returnbar;}Step 3 - (Optional but Recommended) Refactor Existing Code to Private-Mutex PatternA recommended pattern in threaded C++ code is to always keep yourmutexas aprivate:member of the data structure. This makes data safety the concern of the containing structure, offloading that responsibility from users of the structure and minimizing the surface area of affected code.Making your locks private may require rethinking the interfaces to your data. This is a great exercise - here are a few things to considerYou may want to provide specialized interfaces for performing analysis that requires complex locking logic, e.g. counting members in a filtered set of a mutex-guarded map structure, instead of actually returning the underlying structure to consumersConsider copying to avoid blocking, where the amount of data is small. This can let other


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blocking, where the amount of data is small. This can let other threads get on with accessing the shared data, which can potentially lead to better overall performance.Step 4 - (Optional) Enable Negative Capability Analysishttps://clang.llvm.org/docs/ThreadSafetyAnalysis.html#negative-capabilitiesNegative Capability Analysis lets you specify “this lock must not be held when calling this function”. It can reveal potential deadlock cases that other annotations cannot.Where you specified-Wthread-safety, add the additional flag-Wthread-safety-negativeOn any function that acquires a lock, use theRCPPUTILS_TSA_REQUIRES(!mutex)patternHow to run the analysisThe ROS CI build farm runs a nightly job withlibcxx, which will surface any issues in the ROS 2 core stack by being marked “Unstable” when Thread Safety Analysis raises warningsFor local runs, you have the following options, all equivalentUse the colconclang-libcxx mixin(see thedocumentationfor configuring mixins)colconbuild--mixinclang-libcxxPassing compiler to


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mixins)colconbuild--mixinclang-libcxxPassing compiler to CMakecolconbuild--cmake-args-DCMAKE_C_COMPILER=clang-DCMAKE_CXX_COMPILER=clang++-DCMAKE_CXX_FLAGS='-stdlib=libc++ -D_LIBCPP_ENABLE_THREAD_SAFETY_ANNOTATIONS'-DFORCE_BUILD_VENDOR_PKG=ON--no-warn-unused-cliOverriding system compilerCC=clangCXX=clang++colconbuild--cmake-args-DCMAKE_CXX_FLAGS='-stdlib=libc++ -D_LIBCPP_ENABLE_THREAD_SAFETY_ANNOTATIONS'-DFORCE_BUILD_VENDOR_PKG=ON--no-warn-unused-cliResulting Context:Potential deadlocks and race conditions will be surfaced at compile time, when using Clang andlibcxxDynamic analysis (data races & deadlocks)Context:You are developing/debugging your multithreaded C++ production code.You use pthreads or C++11 threading + llvm libc++ (in case of ThreadSanitizer).You do not use Libc/libstdc++ static linking (in case of ThreadSanitizer).You do not build non-position-independent executables (in case of ThreadSanitizer).Problem:Data races and deadlocks can lead to critical bugs.Data races and deadlocks cannot be


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can lead to critical bugs.Data races and deadlocks cannot be detected using static analysis (reason: limitation of static analysis).Data races and deadlocks must not show up during development debugging / testing (reason: usually not all possible control paths through production code exercised).Solution:Use a dynamic analysis tool which focuses on finding data races and deadlocks (here clang ThreadSanitizer).Implementation:Compile and link the production code with clang using the option-fsanitize=thread(this instruments the production code).In case different production code shall be executed during analysis consider conditional compilation e.g.ThreadSanitizers _has_feature(thread_sanitizer).In case some code shall not be instrumented considerThreadSanitizers _/*attribute*/_((no_sanitize(“thread”))).In case some files shall not be instrumented consider file or function-level exclusionThreadSanitizers blacklisting, more specific:ThreadSanitizers Sanitizer Special Case Listor withThreadSanitizers


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Sanitizer Special Case Listor withThreadSanitizers no_sanitize(“thread”)and use the option--fsanitize-blacklist.Resulting context:Higher chance to find data races and deadlocks in production code before deploying it.Analysis result may lack reliability, tool in beta phase stage (in case of ThreadSanitizer).Overhead due to production code instrumentation (maintenance of separate branches for instrumented/not instrumented production code, etc.).Instrumented code needs more memory per thread (in case of ThreadSanitizer).Instrumented code maps a lot virtual address space (in case of ThreadSanitizer).


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Code Examples:

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...if(BUILD_TESTING)find_package(ament_lint_autoREQUIRED)ament_lint_auto_find_test_dependencies()...

endif()...

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...

<packageformat="2">...<test_depend>ament_lint_auto</test_depend><test_depend>ament_lint_common</test_depend>...

</package>

Language: unknown if(CMAKE_CXX_COMPILER_IDMATCHES"Clang")add_compile_options(-Wthread-safety)# for your whole packagetarget_compile_options(${MY_TARGET}PUBLIC-Wthread-safety)# for a single library or executableendif()

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classFoo{public:voidincr(intamount){std::lock_guard<std::mutex>lock(mutex_);bar+=amount;}voidget()const{returnbar;}private:mutablestd::mutexmutex_;intbarRCPPUTILS_TSA_GUARDED_BY(mutex_)=0;};

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voidget()const{std::lock_guard<std::mutex>lock(mutex_);returnbar;}

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colconbuild-

mixinclang

libcxx

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colconbuild-

cmake

args

DCMAKE_C_COMPILER=clang

DCMAKE_CXX_COMPILER=clang++

DCMAKE_CXX_FLAGS='

stdlib=libc++


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DCMAKE_CXX_COMPILER=clang++

DCMAKE_CXX_FLAGS='

stdlib=libc++

D_LIBCPP_ENABLE_THREAD_SAFETY_ANNOTATIONS'

DFORCE_BUILD_VENDOR_PKG=ON-

no

warn

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cmake

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stdlib=libc++

D_LIBCPP_ENABLE_THREAD_SAFETY_ANNOTATIONS'

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no

warn

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Title: Beta 3 (r2b3)

URL: https://docs.ros.org/en/jazzy/Releases/Beta3

Overview.html

Section: Installation

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Beta 3 (r2b3)Table of ContentsSupported PlatformsFeaturesImprovements since Beta 2 releaseNew demo applicationSelected features from previous Alpha/Beta releasesKnown issuesSupported PlatformsWe support ROS 2 Beta 3 on three platforms: Ubuntu 16.04 (Xenial), macOS 10.12 (Sierra), and Windows 10. We provide both binary packages and instructions for how to compile from source for all 3 platforms (seeinstall instructionsas well asdocumentation).FeaturesImprovements since Beta 2 releaseExecution model in Python, many fixes to memory management in Python C extensionExperimental rewrite ofros_controlExposure of DDS implementation-specific symbols to users (for Fast RTPS and Connext) (seeexample)LoggingAPIin PythonFixed several memory leaks and race conditions in various packagesReadded support for OpenSplice (on Linux and Windows atm) provided by PrismTechUse bloom (without patches) to make ROS 2 releasesNew demo applicationHSR demoRemote control a HSR robot using a ROS 2 joystick controllerRunning


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control a HSR robot using a ROS 2 joystick controllerRunning theros1_bridgein a Docker container on the HSR (since the robot is running ROS 1 on Ubuntu Trusty)Run a ROS 2 development version ofrvizto visualize sensor data from the robot etc. (seevideo)Selected features from previous Alpha/Beta releasesFor the complete list, seeearlier release notes.C++ and Python implementations of ROS 2 client libraries including APIs for:Publishing and subscribing to ROS topicsRequesting and replying ROS services (synchronous (C++ only) and asynchronous)Getting and setting ROS parameters (C++ only, synchronous and asynchronous)Timer callbacksSupport for interoperability between multiple DDS/RTPS implementationseProsima Fast RTPS is our default implementation, and is included in the binary packagesRTI Connext is supported: build from source to try it outPrismTech OpenSplice: see limitations belowA graph API for network eventsDistributed discoveryRealtime safe code paths for publish and subscribe with compatible DDS


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safe code paths for publish and subscribe with compatible DDS implementation (only Connext at the moment)Support for custom allocatorsROS 1 <-> ROS 2 dynamic bridge nodeExecutor threading model (C++ and Python)Component model to compose nodes at compile / link / runtimeManaged component using a standard lifecycleExtended.msgformat with new features:Bounded arraysDefault valuesKnown issuesOn Windows Python launch files might hang when trying to abort usingCtrl-C(seeissue). In order to continue using the shell which is blocked by the hanging command you might want to end the hanging Python process using the process monitor.OpenSplice support is currently not available for MacOS. Alsoaccess to native handlesis not yet implemented.Using Connext it is currently not allowed for two topics with the same base name but different namespaces to have a different type (seeissue).


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Title: Building a movable robot model URL: https://docs.ros.org/en/jazzy/Tutorials/Intermediate/URDF/Building-a-Movable-Robot-Model-with-URDF.html Section: Installation --------------------------------------------------------------------------------


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Building a movable robot modelGoal:Learn how to define movable joints in URDF.Tutorial level:IntermediateTime:10 minutesContentsThe HeadThe GripperThe Gripper ArmOther Types of JointsSpecifying the PoseNext stepsIn this tutorial, we’re going to revise the R2D2 model we made in theprevious tutorialso that it has movable joints. In the previous model, all of the joints were fixed. Now we’ll explore three other important types of joints: continuous, revolute and prismatic.Make sure you have installed all prerequisites before continuing. See theprevious tutorialfor information on what is required.Again, all of the robot models mentioned in this tutorial can be found in theurdf_tutorialpackage.Here is the new urdfwith flexible joints. You can compare it to the previous version to see everything that has changed, but we’re just going to focus on three example joints.To visualize and control this model, run the same command as the last tutorial:ros2 launch urdf_tutorial display.launch.py


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the last tutorial:ros2 launch urdf_tutorial display.launch.py model:=urdf/06-flexible.urdfHowever now this will also pop up a GUI that allows you to control the values of all the non-fixed joints. Play with the model some and see how it moves. Then, we can take a look at how we accomplished this.The Head<jointname="head_swivel"type="continuous"><parentlink="base_link"/><childlink="head"/><axisxyz="0 0 1"/><originxyz="0 0 0.3"/></joint>The connection between the body and the head is a continuous joint, meaning that it can take on any angle from negative infinity to positive infinity. The wheels are also modeled like this, so that they can roll in both directions forever.The only additional information we have to add is the axis of rotation, here specified by an xyz triplet, which specifies a vector around which the head will rotate. Since we want it to go around the z axis, we specify the vector “0 0 1”.The Gripper<jointname="left_gripper_joint"type="revolute"><axisxyz="0 0


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0 1"/><limiteffort="1000.0"lower="0.0"upper="0.548"velocity="0.5"/><originrpy="0 0 0"xyz="0.2 0.01 0"/><parentlink="gripper_pole"/><childlink="left_gripper"/></joint>Both the right and the left gripper joints are modeled as revolute joints. This means that they rotate in the same way that the continuous joints do, but they have strict limits. Hence, we must include the limit tag specifying the upper and lower limits of the joint (in radians). We also must specify a maximum velocity and effort for this joint but the actual values don’t matter for our purposes here.The Gripper Arm<jointname="gripper_extension"type="prismatic"><parentlink="base_link"/><childlink="gripper_pole"/><limiteffort="1000.0"lower="-0.38"upper="0"velocity="0.5"/><originrpy="0 0 0"xyz="0.19 0 0.2"/></joint>The gripper arm is a different kind of joint, namely a prismatic joint. This means that it moves along an axis, not around it. This translational movement is what allows our robot model to extend and retract its gripper arm.The limits


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robot model to extend and retract its gripper arm.The limits of the prismatic arm are specified in the same way as a revolute joint, except that the units are meters, not radians.Other Types of JointsThere are two other kinds of joints that move around in space. Whereas the prismatic joint can only move along one dimension, a planar joint can move around in a plane, or two dimensions. Furthermore, a floating joint is unconstrained, and can move around in any of the three dimensions. These joints cannot be specified by just one number, and therefore aren’t included in this tutorial.Specifying the PoseAs you move the sliders around in the GUI, the model moves in Rviz. How is this done? First theGUIparses the URDF and finds all the non-fixed joints and their limits. Then, it uses the values of the sliders to publishsensor_msgs/msg/JointStatemessages. Those are then used byrobot_state_publisherto calculate all of transforms between the different parts. The resulting transform tree is then used to display all


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parts. The resulting transform tree is then used to display all of the shapes in Rviz.Next stepsNow that you have a visibly functional model, you canadd in some physical properties, orstart using xacro to simplify your code.


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Code Examples:

Language: unknown ros2 launch urdf_tutorial display.launch.py model:=urdf/06-flexible.urdf

Language: unknown <jointname="head_swivel"type="continuous"><parentlink="base_link"/><childlink="head"/><axisxyz="0 0 1"/><originxyz="0 0 0.3"/></joint>

Language: unknown <jointname="left_gripper_joint"type="revolute"><axisxyz="0 0 1"/><limiteffort="1000.0"lower="0.0"upper="0.548"velocity="0.5"/><originrpy="0 0 0"xyz="0.2 0.01 0"/><parentlink="gripper_pole"/><childlink="left_gripper"/></joint>

Language: unknown <jointname="gripper_extension"type="prismatic"><parentlink="base_link"/><childlink="gripper_pole"/><limiteffort="1000.0"lower="-0.38"upper="0"velocity="0.5"/><originrpy="0 0 0"xyz="0.19 0 0.2"/></joint>


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Title: Migrating from ROS 1 to ROS 2 URL: https://docs.ros.org/en/jazzy/How-To-Guides/Migrating-from-ROS1.html Section: Installation --------------------------------------------------------------------------------


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Migrating from ROS 1 to ROS 2These guides show how to convert existing ROS 1 packages to ROS 2. If you are new to porting between ROS 1 and ROS 2, it is recommended to read through the guides in order.Migrating PackagesMigrating your package.xml to format 2Migrating InterfacesMigrating a C++ Package ExampleMigrating C++ Packages ReferenceMigrating a Python Package ExampleMigrating Python Packages ReferenceMigrating Launch FilesMigrating ParametersMigrating ScriptsAutomatic toolsThere are also some automatic conversion tools that exist, though they are not exhaustive:Magical ROS 2 Conversion ToolLaunch File migrator that converts a ROS 1 XML launch file to a ROS 2 Python launch file:https://github.com/aws-robotics/ros2-launch-file-migratorAmazon has made their tools for porting from ROS 1 to ROS 2 available at:https://github.com/awslabs/ros2-migration-tools/tree/master/porting_toolsrospy2Python project to automatically convert rospy calls to rclpy calls


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Title: Releasing a Package

URL: https://docs.ros.org/en/jazzy/How

To

Guides/Releasing/Releasing

a

Package.html

Section: Installation

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Releasing a PackageReleasing a package makes your package available on the public ROS 2 buildfarm.This will:Make your package available to be installed via package managers (eg.apton Ubuntu) for all supported Linux platforms in a ROS distribution as described inREP 2000.Allow your package to have API documentation automatically generated.Make your package part of theROS Index.(Optionally) Allow you to have automatic CI run for pull requests in your repository.Follow one of the guides below to get your package released:Index Your Packages- if this is the first release for the packageFirst Time Release- if this is the first release for the package, but it is already indexedSubsequent Releases- if you are releasing a new version of a package that has already been releasedAfter successfully following the instructions, your package will be released into the ROS ecosystem on the next distro synchronization!


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Title: Nodes

URL: https://docs.ros.org/en/jazzy/Concepts/Basic/About-Nodes.html

Section: Installation

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NodesA node is a participant in the ROS 2 graph, which uses aclient libraryto communicate with other nodes.

Nodes can communicate with other nodes within the same process, in a different process, or on a different machine.

Nodes are typically the unit of computation in a ROS graph; each node should do one logical thing.Nodes canpublishto named topics to deliver data to other nodes, orsubscribeto named topics to get data from other nodes.

They can also act as aservice clientto have another node perform a computation on their behalf, or as aservice serverto provide functionality to other nodes.

For long-running computations, a node can act as anaction clientto have another node perform it on their behalf, or as anaction serverto provide functionality to other nodes.


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Nodes can provide configurableparametersto change behavior during run-time.Nodes are often a complex combination of publishers, subscribers, service servers, service clients, action servers, and action clients, all at the same time.Connections between nodes are established through a distributeddiscoveryprocess.


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Title: Writing a static broadcaster (C++) URL: https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Static-Broadcaster-Cpp.html Section: Installation --------------------------------------------------------------------------------


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Writing a static broadcaster (C++)Goal:Learn how to broadcast static coordinate frames to tf2.Tutorial level:IntermediateTime:15 minutesContentsBackgroundPrerequisitesTasks1 Create a package2 Write the static broadcaster node3 Build4 RunThe proper way to publish static transformsSummaryBackgroundPublishing static transforms is useful to define the relationship between a robot base and its sensors or non-moving parts. For example, it is easiest to reason about laser scan measurements in a frame at the center of the laser scanner.This is a standalone tutorial covering the basics of static transforms, which consists of two parts. In the first part we will write code to publish static transforms to tf2. In the second part we will explain how to use the commandlinestatic_transform_publisherexecutable tool intf2_ros.In the next two tutorials we will write the code to reproduce the demo from theIntroduction to tf2tutorial. After that, the following tutorials focus on extending the demo with more advanced tf2


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tutorials focus on extending the demo with more advanced tf2 features.PrerequisitesIn previous tutorials, you learned how tocreate a workspaceandcreate a package.Tasks1 Create a packageFirst we will create a package that will be used for this tutorial and the following ones. The package calledlearning_tf2_cppwill depend ongeometry_msgs,rclcpp,tf2,tf2_ros, andturtlesim. Code for this tutorial is storedhere.Open a new terminal andsource your ROS 2 installationso thatros2commands will work. Navigate to workspace’ssrcfolder and create a new package:ros2 pkg create --build-type ament_cmake --license Apache-2.0 --dependencies geometry_msgs rclcpp tf2 tf2_ros turtlesim -- learning_tf2_cppYour terminal will return a message verifying the creation of your packagelearning_tf2_cppand all its necessary files and folders.2 Write the static broadcaster nodeLet’s first create the source files. Inside thesrc/learning_tf2_cpp/srcdirectory download the example static broadcaster code by entering the following


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the example static broadcaster code by entering the following command:LinuxmacOSWindowswget https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cppwget https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cppIn a Windows command line prompt:curl -sk https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp -o static_turtle_tf2_broadcaster.cppOr in powershell:curl https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp -o static_turtle_tf2_broadcaster.cppOpen the file using your preferred text


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the file using your preferred text editor.#include<memory>#include"geometry_msgs/msg/transform_stamped.hpp"#include"rclcpp/rclcpp.hpp"#include"tf2/LinearMath/Quaternion.h"#include"tf2_ros/static_transform_broadcaster.h"classStaticFramePublisher:publicrclcpp::Node{public:explicitStaticFramePublisher(char*transformation[]):Node("static_turtle_tf2_broadcaster"){tf_static_broadcaster_=std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);// Publish static transforms once at


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Publish static transforms once at startupthis->make_transforms(transformation);}private:voidmake_transforms(char*transformation[]){geometry_msgs::msg::TransformStampedt;t.header.stamp=this->get_clock()->now();t.header.frame_id="world";t.child_frame_id=transformation[1];t.transform.translation.x=atof(transformation[2]);t.transform.translation.y=atof(transformation[3]);t.transform.translation.z=atof(transformation[4]);tf2::Quaternionq;q.setRPY(atof(transformation[5]),atof(transformation[6]),atof(transformation[7]));t.transform.rotation.x=q.x();t.transform.rotation.y=q.y();t.transform.rotation.z=q.z();t.transform.rotation.w=q.w();tf_static_broadcaster_->sendTransform(t);}std::shared_ptr<tf2_ros::StaticTransformBroadcaster>tf_static_broadcaster_;};intmain(intargc,char*argv[]){autologger=rclcpp::get_logger("logger");// Obtain parameters from command line argumentsif(argc!=8){RCLCPP_INFO(logger,"Invalid number of parameters\nusage: ""$ ros2 run learning_tf2_cpp static_turtle_tf2_broadcaster ""child_frame_name x y


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static_turtle_tf2_broadcaster ""child_frame_name x y z roll pitch yaw");return1;}// As the parent frame of the transform is `world`, it is// necessary to check that the frame name passed is differentif(strcmp(argv[1],"world")==0){RCLCPP_INFO(logger,"Your static turtle name cannot be 'world'");return1;}// Pass parameters and initialize noderclcpp::init(argc,argv);rclcpp::spin(std::make_shared<StaticFramePublisher>(argv));rclcpp::shutdown();return0;}2.1 Examine the codeNow let’s look at the code that is relevant to publishing the static turtle pose to tf2. The first lines include the required header files. First we includegeometry_msgs/msg/transform_stamped.hppto access theTransformStampedmessage type, which we will publish to the transformation tree.#include"geometry_msgs/msg/transform_stamped.hpp"Afterward,rclcppis included so itsrclcpp::Nodeclass can be used.#include"rclcpp/rclcpp.hpp"tf2::Quaternionis a class for a quaternion that provides convenient functions for converting Euler angles to quaternions


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convenient functions for converting Euler angles to quaternions and vice versa. We also includetf2_ros/static_transform_broadcaster.hto use theStaticTransformBroadcasterto make the publishing of static transforms easy.#include"tf2/LinearMath/Quaternion.h"#include"tf2_ros/static_transform_broadcaster.h"TheStaticFramePublisherclass constructor initializes the node with the namestatic_turtle_tf2_broadcaster. Then,StaticTransformBroadcasteris created, which will send one static transformation upon the startup.tf_static_broadcaster_=std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);this->make_transforms(transformation);Here we create aTransformStampedobject, which will be the message we will send over once populated. Before passing the actual transform values we need to give it the appropriate metadata.We need to give the transform being published a timestamp and we’ll just stamp it with the current time,this->get_clock()->now()Then we need to set the name of the parent frame of the link we’re creating,


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to set the name of the parent frame of the link we’re creating, in this caseworldFinally, we need to set the name of the child frame of the link we’re creatinggeometry_msgs::msg::TransformStampedt;t.header.stamp=this->get_clock()->now();t.header.frame_id="world";t.child_frame_id=transformation[1];Here we populate the 6D pose (translation and rotation) of the turtle.t.transform.translation.x=atof(transformation[2]);t.transform.translation.y=atof(transformation[3]);t.transform.translation.z=atof(transformation[4]);tf2::Quaternionq;q.setRPY(atof(transformation[5]),atof(transformation[6]),atof(transformation[7]));t.transform.rotation.x=q.x();t.transform.rotation.y=q.y();t.transform.rotation.z=q.z();t.transform.rotation.w=q.w();Finally, we broadcast static transform using thesendTransform()function.tf_static_broadcaster_->sendTransform(t);2.2 Update package.xmlNavigate one level back to thesrc/learning_tf2_cppdirectory, where theCMakeLists.txtandpackage.xmlfiles have been created for you.Openpackage.xmlwith your


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have been created for you.Openpackage.xmlwith your text editor.As mentioned in theCreate a packagetutorial, make sure to fill in the<description>,<maintainer>and<license>tags:<description>Learningtf2withrclcpp</description><maintaineremail="you@email.com">YourName</maintainer><license>Apache-2.0</license>Make sure to save the file.2.3 CMakeLists.txtAdd the executable to the CMakeLists.txt and name itstatic_turtle_tf2_broadcaster, which you’ll use later withros2run.add_executable(static_turtle_tf2_broadcaster src/static_turtle_tf2_broadcaster.cpp)ament_target_dependencies(static_turtle_tf2_broadcastergeometry_msgsrclcpptf2tf2_ros)Finally, add theinstall(TARGETS…)section soros2runcan find your executable:install(TARGETSstatic_turtle_tf2_broadcasterDESTINATION lib/${PROJECT_NAME})3 BuildIt’s good practice to runrosdepin the root of your workspace to check for missing dependencies before building:LinuxmacOSWindowsrosdep install -i --from-path src --rosdistro jazzy -yrosdep only runs on Linux, so you will need


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--rosdistro jazzy -yrosdep only runs on Linux, so you will need to installgeometry_msgsandturtlesimdependencies yourselfrosdep only runs on Linux, so you will need to installgeometry_msgsandturtlesimdependencies yourselfStill in the root of your workspace, build your new package:LinuxmacOSWindowscolcon build --packages-select learning_tf2_cppcolcon build --packages-select learning_tf2_cppcolcon build --merge-install --packages-select learning_tf2_cppOpen a new terminal, navigate to the root of your workspace, and source the setup files:LinuxmacOSWindows. install/setup.bash. install/setup.bash#CMDcall install\setup.bat#Powershell.\install\setup.ps14 RunNow run thestatic_turtle_tf2_broadcasternode:ros2 run learning_tf2_cpp static_turtle_tf2_broadcaster mystaticturtle 0 0 1 0 0 0This sets a turtle pose broadcast formystaticturtleto float 1 meter above the ground.We can now check that the static transform has been published by echoing thetf_statictopicros2 topic echo /tf_staticIf everything went well you should


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topic echo /tf_staticIf everything went well you should see a single static transformtransforms:- header:stamp:sec: 1622908754nanosec: 208515730frame_id: worldchild_frame_id: mystaticturtletransform:translation:x: 0.0y: 0.0z: 1.0rotation:x: 0.0y: 0.0z: 0.0w: 1.0The proper way to publish static transformsThis tutorial aimed to show howStaticTransformBroadcastercan be used to publish static transforms. In your real development process you shouldn’t have to write this code yourself and should use the dedicatedtf2_rostool to do so.tf2_rosprovides an executable namedstatic_transform_publisherthat can be used either as a commandline tool or a node that you can add to your launchfiles.The following command publishes a static coordinate transform to tf2 using an x/y/z offset in meters and roll/pitch/yaw in radians. In ROS 2, roll/pitch/yaw refers to rotation about the x/y/z-axis, respectively.ros2 run tf2_ros static_transform_publisher --x x --y y --z z --yaw yaw --pitch pitch --roll roll --frame-id frame_id


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y --z z --yaw yaw --pitch pitch --roll roll --frame-id frame_id --child-frame-id child_frame_idThe following command publishes a static coordinate transform to tf2 using an x/y/z offset in meters and roll/pitch/yaw as a quaternion.ros2 run tf2_ros static_transform_publisher --x x --y y --z z --qx qx --qy qy --qz qz --qw qw --frame-id frame_id --child-frame-id child_frame_idstatic_transform_publisheris designed both as a command-line tool for manual use, as well as for use withinlaunchfiles for setting static transforms. For example:from launch import LaunchDescriptionfrom launch_ros.actions import Nodedef generate_launch_description():return LaunchDescription([Node(package='tf2_ros',executable='static_transform_publisher',arguments = ['--x', '0', '--y', '0', '--z', '1', '--yaw', '0', '--pitch', '0', '--roll', '0', '--frame-id', 'world', '--child-frame-id', 'mystaticturtle']),])Note that all arguments except for--frame-idand--child-frame-idare optional; if a particular option isn’t specified, then the


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optional; if a particular option isn’t specified, then the identity will be assumed.SummaryIn this tutorial you learned how static transforms are useful to define static relationships between frames, likemystaticturtlein relation to theworldframe. In addition, you learned how static transforms can be useful for understanding sensor data, such as from laser scanners, by relating the data to a common coordinate frame. Finally, you wrote your own node to publish static transforms to tf2 and learned how to publish required static transformations usingstatic_transform_publisherexecutable and launch files.


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Code Examples:

Language: unknown ros2 pkg create --build-type ament_cmake --license Apache-2.0 --dependencies geometry_msgs rclcpp tf2 tf2_ros turtlesim -- learning_tf2_cpp

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wget https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp

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wget https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp

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curl

sk https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp

o static_turtle_tf2_broadcaster.cpp

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curl https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp

o static_turtle_tf2_broadcaster.cpp


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Language: unknown #include<memory>#include"geometry_msgs/msg/transform_stamped.hpp"#include"rclcpp/rclcpp.hpp"#include"tf2/LinearMath/Quaternion.h"#include"tf2_ros/static_transform_broadcaster.h"classStaticFramePublisher:publicrclcpp::Node{public:explicitStaticFramePublisher(char*transformation[]):Node("static_turtle_tf2_broadcaster"){tf_static_broadcaster_=std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);// Publish static transforms once at


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static_turtle_tf2_broadcaster ""child_frame_name x y z roll pitch yaw");return1;}// As the parent frame of the transform is `world`, it is// necessary to check that the frame name passed is differentif(strcmp(argv[1],"world")==0){RCLCPP_INFO(logger,"Your static turtle name cannot be 'world'");return1;}// Pass parameters and initialize noderclcpp::init(argc,argv);rclcpp::spin(std::make_shared<StaticFramePublisher>(argv));rclcpp::shutdown();return0;}


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#include"geometry_msgs/msg/transform_stamped.hpp"

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#include"rclcpp/rclcpp.hpp"

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#include"tf2/LinearMath/Quaternion.h"#include"tf2_ros/static_transform_broadcaster.h"

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tf_static_broadcaster_=std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);this

>make_transforms(transformation);

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geometry_msgs::msg::TransformStampedt;t.header.stamp=this

>get_clock()

>now();t.header.frame_id="world";t.child_frame_id=transformation[1];

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t.transform.translation.x=atof(transformation[2]);t.transform.translation.y=atof(transformation[3]);t.transform.translation.z=atof(transformation[4]);tf2::Quaternionq;q.setRPY(atof(transformation[5]),atof(transformation[6]),atof(transformation[7]));t.transform.rotation.x=q.x();t.transform.rotation.y=q.y();t.transform.rotation.z=q.z();t.transform.rotation.w=q.w();

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tf_static_broadcaster_

>sendTransform(t);

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tf_static_broadcaster_

>sendTransform(t);

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<description>Learningtf2withrclcpp</description><maintaineremail="you@email.com">YourName</maintainer><license>Apache

2.0</license>

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add_executable(static_turtle_tf2_broadcaster src/static_turtle_tf2_broadcaster.cpp)ament_target_dependencies(static_turtle_tf2_broadcastergeometry_msgsrclcpptf2tf2_ros)

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install(TARGETSstatic_turtle_tf2_broadcasterDESTINATION lib/${PROJECT_NAME})

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rosdep install

i -

from

path src -

rosdistro jazzy

y

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colcon build -

packages

select learning_tf2_cpp

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colcon build -

packages

select learning_tf2_cpp

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colcon build -

merge

install -

packages

select learning_tf2_cpp

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. install/setup.bash

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. install/setup.bash

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#CMDcall install\setup.bat#Powershell.\install\setup.ps1


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#CMDcall install\setup.bat#Powershell.\install\setup.ps1

Language: unknown ros2 run learning_tf2_cpp static_turtle_tf2_broadcaster mystaticturtle 0 0 1 0 0 0

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ros2 topic echo /tf_static

Language: unknown transforms:- header:stamp:sec: 1622908754nanosec: 208515730frame_id: worldchild_frame_id: mystaticturtletransform:translation:x: 0.0y: 0.0z: 1.0rotation:x: 0.0y: 0.0z: 0.0w: 1.0

Language: unknown ros2 run tf2_ros static_transform_publisher --x x --y y --z z --yaw yaw --pitch pitch --roll roll --frame-id frame_id --child-frame-id child_frame_id

Language: unknown ros2 run tf2_ros static_transform_publisher --x x --y y --z z --qx qx --qy qy --qz qz --qw qw --frame-id frame_id --child-frame-id child_frame_id


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Language: unknown from launch import LaunchDescriptionfrom launch_ros.actions import Nodedef generate_launch_description():return LaunchDescription([Node(package='tf2_ros',executable='static_transform_publisher',arguments = ['--x', '0', '--y', '0', '--z', '1', '--yaw', '0', '--pitch', '0', '--roll', '0', '--frame-id', 'world', '--child-frame-id', 'mystaticturtle']),])


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Title: Creating and using plugins (C++) URL: https://docs.ros.org/en/jazzy/Tutorials/Beginner-Client-Libraries/Pluginlib.html Section: Installation --------------------------------------------------------------------------------


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Creating and using plugins (C++)Goal:Learn to create and load a simple plugin usingpluginlib.Tutorial level:BeginnerTime:20 minutesContentsBackgroundPrerequisitesTasks1 Create the Base Class Package2 Create the Plugin Package2.1 Source code for the plugins2.2 Plugin Declaration XML2.3 CMake Plugin Declaration3 Use the Plugins4 Build and runSummaryBackgroundThis tutorial is derived fromhttp://wiki.ros.org/pluginlibandWriting and Using a Simple Plugin Tutorial.pluginlibis a C++ library for loading and unloading plugins from within a ROS package. Plugins are dynamically loadable classes that are loaded from a runtime library (i.e. shared object, dynamically linked library). With pluginlib, you do not have to explicitly link your application against the library containing the classes – insteadpluginlibcan open a library containing exported classes at any point without the application having any prior awareness of the library or the header file containing the class definition. Plugins are useful for


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file containing the class definition. Plugins are useful for extending/modifying application behavior without needing the application source code.PrerequisitesThis tutorial assumes basic C++ knowledge and that you have successfullyinstalled ROS 2.TasksIn this tutorial, you will create two new packages, one that defines the base class, and another that provides the plugins. The base class will define a generic polygon class, and then our plugins will define specific shapes.1 Create the Base Class PackageCreate a new empty package in yourros2_ws/srcfolder with the following command:ros2 pkg create --build-type ament_cmake --license Apache-2.0 --dependencies pluginlib --node-name area_node polygon_baseOpen your favorite editor, editros2_ws/src/polygon_base/include/polygon_base/regular_polygon.hpp, and paste the following inside of it:#ifndef POLYGON_BASE_REGULAR_POLYGON_HPP#define


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inside of it:#ifndef POLYGON_BASE_REGULAR_POLYGON_HPP#define POLYGON_BASE_REGULAR_POLYGON_HPPnamespacepolygon_base{classRegularPolygon{public:virtualvoidinitialize(doubleside_length)=0;virtualdoublearea()=0;virtual~RegularPolygon(){}protected:RegularPolygon(){}};}// namespace polygon_base#endif// POLYGON_BASE_REGULAR_POLYGON_HPPThe code above creates an abstract class calledRegularPolygon. One thing to notice is the presence of the initialize method. Withpluginlib, a constructor without parameters is required, so if any parameters to the class are needed, we use the initialize method to pass them to the object.We need to make this header available to other classes, so openros2_ws/src/polygon_base/CMakeLists.txtfor editing. Add the following lines after theament_target_dependenciescommand:install(DIRECTORYinclude/DESTINATIONinclude)And add this command before theament_packagecommand:ament_export_include_directories(include)We will return to this package later to write our test node.2 Create the Plugin


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this package later to write our test node.2 Create the Plugin PackageNow we’re going to write two non-virtual implementations of our abstract class. Create a second empty package in yourros2_ws/srcfolder with the following command:ros2 pkg create --build-type ament_cmake --license Apache-2.0 --dependencies polygon_base pluginlib --library-name polygon_plugins polygon_plugins2.1 Source code for the pluginsOpenros2_ws/src/polygon_plugins/src/polygon_plugins.cppfor editing, and paste the following inside of


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editing, and paste the following inside of it:#include<polygon_base/regular_polygon.hpp>#include<cmath>namespacepolygon_plugins{classSquare:publicpolygon_base::RegularPolygon{public:voidinitialize(doubleside_length)override{side_length_=side_length;}doublearea()override{returnside_length_*side_length_;}protected:doubleside_length_;};classTriangle:publicpolygon_base::RegularPolygon{public:voidinitialize(doubleside_length)override{side_length_=side_length;}doublearea()override{return0.5*side_length_*getHeight();}doublegetHeight(){returnsqrt((side_length_*side_length_)-((side_length_/2)*(side_length_/2)));}protected:doubleside_length_;};}#include<pluginlib/class_list_macros.hpp>PLUGINLIB_EXPORT_CLASS(polygon_plugins::Square,polygon_base::RegularPolygon)PLUGINLIB_EXPORT_CLASS(polygon_plugins::Triangle,polygon_base::RegularPolygon)The implementation of the Square and Triangle classes is fairly straightforward: save the side length, and use it to calculate the area. The only piece that is pluginlib specific is the


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the area. The only piece that is pluginlib specific is the last three lines, which invokes some magical macros that register the classes as actual plugins. Let’s go through the arguments to thePLUGINLIB_EXPORT_CLASSmacro:The fully-qualified type of the plugin class, in this case,polygon_plugins::Square.The fully-qualified type of the base class, in this case,polygon_base::RegularPolygon.2.2 Plugin Declaration XMLThe steps above enable plugin instances to be created when the containing library is loaded, but the plugin loader still needs a way to find that library and to know what to reference within that library. To this end, we’ll also create an XML file that, along with a special export line in the package manifest, makes all the necessary information about our plugins available to the ROS toolchain.Createros2_ws/src/polygon_plugins/plugins.xmlwith the following


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the following code:<librarypath="polygon_plugins"><classtype="polygon_plugins::Square"base_class_type="polygon_base::RegularPolygon"><description>Thisisasquareplugin.</description></class><classtype="polygon_plugins::Triangle"base_class_type="polygon_base::RegularPolygon"><description>Thisisatriangleplugin.</description></class></library>A couple things to note:Thelibrarytag gives the relative path to a library that contains the plugins that we want to export. In ROS 2, that is just the name of the library. In ROS 1, it contained the prefixlibor sometimeslib/lib(i.e.lib/libpolygon_plugins), but here it is simpler.Theclasstag declares a plugin that we want to export from our library. Let’s go through its parameters:type: The fully qualified type of the plugin. For us, that’spolygon_plugins::Square.base_class: The fully qualified base class type for the plugin. For us, that’spolygon_base::RegularPolygon.description: A description of the plugin and what it does.2.3 CMake Plugin DeclarationThe last step is to


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what it does.2.3 CMake Plugin DeclarationThe last step is to export your plugins viaCMakeLists.txt. This is a change from ROS 1, where the exporting was done viapackage.xml. Add the following line to yourros2_ws/src/polygon_plugins/CMakeLists.txtafter the line readingfind_package(pluginlibREQUIRED):pluginlib_export_plugin_description_file(polygon_baseplugins.xml)The arguments to thepluginlib_export_plugin_description_filecommand are:The package with the base class, i.e.polygon_base.The relative path to the Plugin Declaration xml, i.e.plugins.xml.3 Use the PluginsNow it’s time to use the plugins. This can be done in any package, but here we’re going to do it in the base package. Editros2_ws/src/polygon_base/src/area_node.cppto contain the following:#include<pluginlib/class_loader.hpp>#include<polygon_base/regular_polygon.hpp>intmain(intargc,char**argv){// To avoid unused parameter


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To avoid unused parameter warnings(void)argc;(void)argv;pluginlib::ClassLoader<polygon_base::RegularPolygon>poly_loader("polygon_base","polygon_base::RegularPolygon");try{std::shared_ptr<polygon_base::RegularPolygon>triangle=poly_loader.createSharedInstance("polygon_plugins::Triangle");triangle->initialize(10.0);std::shared_ptr<polygon_base::RegularPolygon>square=poly_loader.createSharedInstance("polygon_plugins::Square");square->initialize(10.0);printf("Triangle area: %.2f\n",triangle->area());printf("Square area: %.2f\n",square->area());}catch(pluginlib::PluginlibException&ex){printf("The plugin failed to load for some reason. Error: %s\n",ex.what());}return0;}TheClassLoaderis the key class to understand, defined in theclass_loader.hppheader file:It is templated with the base class, i.e.polygon_base::RegularPolygon.The first argument is a string for the package name of the base class, i.e.polygon_base.The second argument is a string with the fully qualified base class type for the plugin,


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string with the fully qualified base class type for the plugin, i.e.polygon_base::RegularPolygon.There are a number of ways to instantiate an instance of the class. In this example, we’re using shared pointers. We just need to callcreateSharedInstancewith the fully-qualified type of the plugin class, in this case,polygon_plugins::Square.Important note: thepolygon_basepackage in which this node is defined does NOT depend on thepolygon_pluginsclass. The plugins will be loaded dynamically without any dependency needing to be declared. Furthermore, we’re instantiating the classes with hardcoded plugin names, but you can also do so dynamically with parameters, etc.4 Build and runNavigate back to the root of your workspace,ros2_ws, and build your new packages:colcon build --packages-select polygon_base polygon_pluginsFromros2_ws, be sure to source the setup files:LinuxmacOSWindowssource install/setup.bash. install/setup.bashcall install/setup.batNow run the node:ros2 run polygon_base area_nodeIt should


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run the node:ros2 run polygon_base area_nodeIt should print:Triangle area: 43.30Square area: 100.00SummaryCongratulations! You’ve just written and used your first plugins.


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Code Examples:

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ros2 pkg create -

build

type ament_cmake -

license Apache

2.0 -

dependencies pluginlib -

node

name area_node polygon_base

Language: unknown #ifndef POLYGON_BASE_REGULAR_POLYGON_HPP#define POLYGON_BASE_REGULAR_POLYGON_HPPnamespacepolygon_base{classRegularPolygon{public:virtualvoidinitialize(doubleside_length)=0;virtualdoublearea()=0;virtual~RegularPolygon(){}protected:RegularPolygon(){}};}// namespace polygon_base#endif// POLYGON_BASE_REGULAR_POLYGON_HPP

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install(DIRECTORYinclude/DESTINATIONinclude)

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ament_export_include_directories(include)

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ros2 pkg create -

build

type ament_cmake -

license Apache

2.0 -

dependencies polygon_base pluginlib -

library

name polygon_plugins polygon_plugins

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name polygon_plugins polygon_plugins

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#include<polygon_base/regular_polygon.hpp>#include<cmath>namespacepolygon_plugins{classSquare:publicpolygon_base::RegularPolygon{public:voidinitialize(doubleside_length)override{side_length_=side_length;}doublearea()override{returnside_length_

side_length_;}protected:doubleside_length_;};classTriangle:publicpolygon_base::RegularPolygon{public:voidinitialize(doubleside_length)override{side_length_=side_length;}doublearea()override{return0.5

side_length_

getHeight();}doublegetHeight(){returnsqrt((side_length_

side_length_)

((side_length_/2)

(side_length_/2)));}protected:doubleside_length_;};}#include<pluginlib/class_list_macros.hpp>PLUGINLIB_EXPORT_CLASS(polygon_plugins::Square,polygon_base::RegularPolygon)PLUGINLIB_EXPORT_CLASS(polygon_plugins::Triangle,polygon_base::RegularPolygon)

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<librarypath="polygon_plugins"><classtype="polygon_plugins::Square"base_class_type="polygon_base::RegularPolygon"><description>Thisisasquareplugin.</description></class><classtype="polygon_plugins::Triangle"base_class_type="polygon_base::RegularPolygon"><description>Thisisatriangleplugin.</description></class></library>

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pluginlib_export_plugin_description_file(polygon_baseplugins.xml)


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Language: unknown #include<pluginlib/class_loader.hpp>#include<polygon_base/regular_polygon.hpp>intmain(intargc,char**argv){// To avoid unused parameter warnings(void)argc;(void)argv;pluginlib::ClassLoader<polygon_base::RegularPolygon>poly_loader("polygon_base","polygon_base::RegularPolygon");try{std::shared_ptr<polygon_base::RegularPolygon>triangle=poly_loader.createSharedInstance("polygon_plugins::Triangle");triangle->initialize(10.0);std::shared_ptr<polygon_base::RegularPolygon>square=poly_loader.createSharedInstance("polygon_plugins::Square");square->initialize(10.0);printf("Triangle area: %.2f\n",triangle->area());printf("Square area: %.2f\n",square->area());}catch(pluginlib::PluginlibException&ex){printf("The plugin failed to load for some reason. Error: %s\n",ex.what());}return0;}

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colcon build -

packages

select polygon_base polygon_plugins

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source install/setup.bash

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. install/setup.bash

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call install/setup.bat


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call install/setup.bat

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ros2 run polygon_base area_node

Language: unknown Triangle area: 43.30Square area: 100.00


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Title: Basic Concepts

URL: https://docs.ros.org/en/jazzy/Concepts/Basic.html

Section: Installation

--------------------------------------------------------------------------------

Basic ConceptsROS 2 is a middleware based on a strongly-typed, anonymous publish/subscribe mechanism that allows for message passing between different processes.At the heart of any ROS 2 system is the ROS graph. The ROS graph refers to the network of nodes in a ROS system and the connections between them by which they communicate.These are the concepts that will help you get started understanding the basics of ROS 2.NodesDiscoveryInterfacesTopicsServicesActionsParametersIntrospection with command line toolsLaunchClient libraries


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Title: Windows (binary)

URL: https://docs.ros.org/en/jazzy/Installation/Windows

Install

Binary.html

Section: Installation

--------------------------------------------------------------------------------


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Windows (binary)Table of ContentsSystem requirementsSystem setupInstall ChocolateyInstall PythonInstall Visual C++ RedistributablesInstall OpenSSLInstall Visual StudioInstall OpenCVInstall dependenciesInstall miscellaneous prerequisitesInstall Qt5RQt dependenciesInstall ROS 2Install additional RMW implementations (optional)Setup environmentTry some examplesNext stepsTroubleshootUninstallExtra Stuff for DebugThis page explains how to install ROS 2 on Windows from a pre-built binary package.NoteThe pre-built binary does not include all ROS 2 packages. All packages in theROS base variantare included, and only a subset of packages in theROS desktop variantare included. The exact list of packages are described by the repositories listed inthis ros2.repos file.System requirementsOnly Windows 10 is supported.System setupInstall ChocolateyChocolatey is a package manager for Windows, install it by following their installation instructions:https://chocolatey.org/installYou’ll use Chocolatey to install some other


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use Chocolatey to install some other developer tools.Install PythonOpen a Command Prompt and type the following to install Python via Chocolatey:chocoinstall-ypython--version3.8.3NoteChocolatey will install Python inC:\Python38, and the rest of the installation expects it to be there. If you’ve installed Python somewhere else, you must copy or link it to that location.Install Visual C++ RedistributablesOpen a Command Prompt and type the following to install them via Chocolatey:chocoinstall-yvcredist2013vcredist140Install OpenSSLOpen a Command Prompt and type the following to install OpenSSL via Chocolatey:chocoinstall-yopenssl--version1.1.1.2100This command sets an environment variable that persists over sessions:setx/mOPENSSL_CONF"C:\Program Files\OpenSSL-Win64\bin\openssl.cfg"You will need to append the OpenSSL-Win64 bin folder to your PATH. You can do this by clicking the Windows icon, typing “Environment Variables”, then clicking on “Edit the system environment variables”. In the resulting dialog,


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the system environment variables”. In the resulting dialog, click “Environment Variables”, then click “Path” on the bottom pane, finally click “Edit” and add the path below.C:\ProgramFiles\OpenSSL-Win64\bin\Install Visual StudioInstall Visual Studio 2019.If you already have a paid version of Visual Studio 2019 (Professional, Enterprise), skip this step.Microsoft provides a free of charge version of Visual Studio 2019, named Community, which can be used to build applications that use ROS 2.You can download the installer directly through this link.Make sure that the Visual C++ features are installed.An easy way to make sure they’re installed is to select theDesktopdevelopmentwithC++workflow during the install.Make sure that no C++ CMake tools are installed by unselecting them in the list of components to be installed.Install OpenCVSome of the examples require OpenCV to be installed.You can download a precompiled version of OpenCV 3.4.6


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can download a precompiled version of OpenCV 3.4.6 fromhttps://github.com/ros2/ros2/releases/download/opencv-archives/opencv-3.4.6-vc16.VS2019.zip.Assuming you unpacked it toC:\opencv, type the following on a Command Prompt (requires Admin privileges):setx/mOpenCV_DIRC:\opencvSince you are using a precompiled ROS version, we have to tell it where to find the OpenCV libraries. You have to extend thePATHvariable toC:\opencv\x64\vc16\bin.Install dependenciesThere are a few dependencies not available in the Chocolatey package database. In order to ease the manual installation process, we provide the necessary Chocolatey packages.As some chocolatey packages rely on it, we start by installing CMakechocoinstall-ycmakeYou will need to append the CMake bin folderC:\ProgramFiles\CMake\binto your PATH.Please download these packages fromthisGitHub repository.asio.1.12.1.nupkgbullet.3.17.nupkgcunit.2.1.3.nupkgeigen.3.3.4.nupkgtinyxml2.6.0.0.nupkgOnce these packages are downloaded, open an administrative shell and


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these packages are downloaded, open an administrative shell and execute the following command:chocoinstall-y-s<PATH\TO\DOWNLOADS\>asiocuniteigentinyxml2bulletPlease replace<PATH\TO\DOWNLOADS>with the folder you downloaded the packages to.First upgrade pip and setuptools:python-mpipinstall-Upipsetuptools==59.6.0Now install some additional python dependencies:python-mpipinstall-Ucatkin_pkgcryptographyempyimportlib-metadatajsonschemalark==1.1.1lxmlmatplotlibnetifacesnumpyopencv-pythonPyQt5pillowpsutilpycairopydotpyparsing==2.4.7pytestpyyamlrosdistroInstall miscellaneous prerequisitesNext install xmllint:Download the64 bit binary archivesoflibxml2(and its dependenciesiconvandzlib) fromhttps://www.zlatkovic.com/projects/libxml/Unpack all archives into e.g.C:\xmllintAddC:\xmllint\binto thePATH.Install Qt5Download the5.12.X offline installerfrom Qt’s website. Run the installer. Make sure to select theMSVC201764-bitcomponent under theQt->Qt5.12.12tree.Finally, in an administratorcmd.exewindow set these environment


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in an administratorcmd.exewindow set these environment variables. The commands below assume you installed it to the default location ofC:\Qt.setx/mQt5_DIRC:\Qt\Qt5.12.12\5.12.12\msvc2017_64 setx/mQT_QPA_PLATFORM_PLUGIN_PATHC:\Qt\Qt5.12.12\5.12.12\msvc2017_64\plugins\platformsNoteThis path might change based on the installed MSVC version, the directory Qt was installed to, and the version of Qt installed.RQt dependenciesTo run rqt_graph you need todownloadand installGraphviz. The installer will ask if to add graphviz to PATH, choose to either add it to the current user or all users.Install ROS 2Go to the releases page:https://github.com/ros2/ros2/releasesDownload the latest package for Windows, e.g.,ros2-jazzy-*-windows-release-amd64.zip.NoteThere may be more than one binary download option which might cause the file name to differ.NoteTo install debug libraries for ROS 2, seeExtra Stuff for Debug. Then continue on with downloadingros2-jazzy-*-windows-debug-amd64.zip.Unpack the zip file somewhere (we’ll


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the zip file somewhere (we’ll assumeC:\dev\ros2_jazzy).Install additional RMW implementations (optional)The default middleware that ROS 2 uses isFastDDS, but the middleware (RMW) can be replaced at runtime. See theguideon how to work with multiple RMWs.Setup environmentStart a command shell and source the ROS 2 setup file to set up the workspace:callC:\dev\ros2_jazzy\local_setup.batIt is normal that the previous command, if nothing else went wrong, outputs “The system cannot find the path specified.” exactly once.Try some examplesIn a command shell, set up the ROS 2 environment as described above and then run a C++talker:ros2rundemo_nodes_cpptalkerStart another command shell and run a Pythonlistener:ros2rundemo_nodes_pylistenerYou should see thetalkersaying that it’sPublishingmessages and thelistenersayingIheardthose messages. This verifies both the C++ and Python APIs are working properly. Hooray!Next stepsContinue with thetutorials and demosto configure your environment, create your own workspace and


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configure your environment, create your own workspace and packages, and learn ROS 2 core concepts.TroubleshootTroubleshooting techniques can be foundhere.UninstallIf you installed your workspace with colcon as instructed above, “uninstalling” could be just a matter of opening a new terminal and not sourcing the workspace’ssetupfile. This way, your environment will behave as though there is no Jazzy install on your system.If you’re also trying to free up space, you can delete the entire workspace directory with:rmdir/s/q\ros2_jazzyExtra Stuff for DebugTo download the ROS 2 debug libraries you’ll need to downloadros2-jazzy-*-windows-debug-AMD64.zip. Please note that debug libraries require some more additional configuration/setup to work as given below.Python installation may require modification to enable debugging symbols and debug binaries:Search in windowsSearch Barand openApps and Features.Search for the installed Python version.Click Modify.Click Next to go toAdvanced Options.Make sureDownload


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Modify.Click Next to go toAdvanced Options.Make sureDownload debugging symbolsandDownload debug binariesare checked.Click Install.


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Code Examples:

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chocoinstall

ypython-

version3.8.3

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chocoinstall

yvcredist2013vcredist140

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chocoinstall

yopenssl-

version1.1.1.2100

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setx/mOPENSSL_CONF"C:\Program Files\OpenSSL

Win64\bin\openssl.cfg"

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setx/mOpenCV_DIRC:\opencv

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chocoinstall

ycmake

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chocoinstall

y

s<PATH\TO\DOWNLOADS\>asiocuniteigentinyxml2bullet

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python

mpipinstall

Upipsetuptools==59.6.0

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python

mpipinstall

Ucatkin_pkgcryptographyempyimportlib

metadatajsonschemalark==1.1.1lxmlmatplotlibnetifacesnumpyopencv

pythonPyQt5pillowpsutilpycairopydotpyparsing==2.4.7pytestpyyamlrosdistro

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setx/mQt5_DIRC:\Qt\Qt5.12.12\5.12.12\msvc2017_64

setx/mQT_QPA_PLATFORM_PLUGIN_PATHC:\Qt\Qt5.12.12\5.12.12\msvc2017_64\plugins\platforms

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callC:\dev\ros2_jazzy\local_setup.bat

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ros2rundemo_nodes_cpptalker

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ros2rundemo_nodes_cpptalker

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ros2rundemo_nodes_pylistener

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rmdir/s/q\ros2_jazzy


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Title: Writing a broadcaster (C++) URL: https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Tf2/Writing-A-Tf2-Broadcaster-Cpp.html Section: Installation --------------------------------------------------------------------------------


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Writing a broadcaster (C++)Goal:Learn how to broadcast the state of a robot to tf2.Tutorial level:IntermediateTime:15 minutesContentsBackgroundPrerequisitesTasks1 Write the broadcaster node2 Write the launch file3 Build4 RunSummaryBackgroundIn the next two tutorials we will write the code to reproduce the demo from theIntroduction to tf2tutorial. After that, the following tutorials focus on extending the demo with more advanced tf2 features, including the usage of timeouts in transformation lookups and time travel.PrerequisitesThis tutorial assumes you have a working knowledge of ROS 2 and you have completed theIntroduction to tf2 tutorialandtf2 static broadcaster tutorial (C++). We’ll be reusing thelearning_tf2_cpppackage from that last tutorial.In previous tutorials, you learned how tocreate a workspaceandcreate a package.Tasks1 Write the broadcaster nodeLet’s first create the source files. Go to thelearning_tf2_cpppackage we created in the previous tutorial. Inside thesrcdirectory download the


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in the previous tutorial. Inside thesrcdirectory download the example broadcaster code by entering the following command:LinuxmacOSWindowswget https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cppwget https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cppIn a Windows command line prompt:curl -sk https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp -o turtle_tf2_broadcaster.cppOr in powershell:curl https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp -o turtle_tf2_broadcaster.cppOpen the file using your preferred text


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the file using your preferred text editor.#include<functional>#include<memory>#include<sstream>#include<string>#include"geometry_msgs/msg/transform_stamped.hpp"#include"rclcpp/rclcpp.hpp"#include"tf2/LinearMath/Quaternion.h"#include"tf2_ros/transform_broadcaster.h"#include"turtlesim/msg/pose.hpp"classFramePublisher:publicrclcpp::Node{public:FramePublisher():Node("turtle_tf2_frame_publisher"){// Declare and acquire `turtlename` parameterturtlename_=this->declare_parameter<std::string>("turtlename","turtle");// Initialize the transform broadcastertf_broadcaster_=std::make_unique<tf2_ros::TransformBroadcaster>(*this);// Subscribe to a turtle{1}{2}/pose topic and call handle_turtle_pose// callback function on each messagestd::ostringstreamstream;stream<<"/"<<turtlename_.c_str()<<"/pose";std::stringtopic_name=stream.str();autohandle_turtle_pose=[this](conststd::shared_ptr<turtlesim::msg::Pose>msg){geometry_msgs::msg::TransformStampedt;// Read message content and assign it to// corresponding tf


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Read message content and assign it to// corresponding tf variablest.header.stamp=this->get_clock()->now();t.header.frame_id="world";t.child_frame_id=turtlename_.c_str();// Turtle only exists in 2D, thus we get x and y translation// coordinates from the message and set the z coordinate to 0t.transform.translation.x=msg->x;t.transform.translation.y=msg->y;t.transform.translation.z=0.0;// For the same reason, turtle can only rotate around one axis// and this why we set rotation in x and y to 0 and obtain// rotation in z axis from the messagetf2::Quaternionq;q.setRPY(0,0,msg->theta);t.transform.rotation.x=q.x();t.transform.rotation.y=q.y();t.transform.rotation.z=q.z();t.transform.rotation.w=q.w();// Send the


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Send the transformationtf_broadcaster_->sendTransform(t);};subscription_=this->create_subscription<turtlesim::msg::Pose>(topic_name,10,handle_turtle_pose);}private:rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtrsubscription_;std::unique_ptr<tf2_ros::TransformBroadcaster>tf_broadcaster_;std::stringturtlename_;};intmain(intargc,char*argv[]){rclcpp::init(argc,argv);rclcpp::spin(std::make_shared<FramePublisher>());rclcpp::shutdown();return0;}1.1 Examine the codeNow, let’s take a look at the code that is relevant to publishing the turtle pose to tf2. Firstly, we define and acquire a single parameterturtlename, which specifies a turtle name, e.g.turtle1orturtle2.turtlename_=this->declare_parameter<std::string>("turtlename","turtle");Afterward, the node subscribes to topicturtleX/poseand runs functionhandle_turtle_poseon every incoming message.subscription_=this->create_subscription<turtlesim::msg::Pose>(topic_name,10,handle_turtle_pose);Now, we create aTransformStampedobject and give it the appropriate


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we create aTransformStampedobject and give it the appropriate metadata.We need to give the transform being published a timestamp, and we’ll just stamp it with the current time by callingthis->get_clock()->now(). This will return the current time used by theNode.Then we need to set the name of the parent frame of the link we’re creating, in this caseworld.Finally, we need to set the name of the child node of the link we’re creating, in this case this is the name of the turtle itself.The handler function for the turtle pose message broadcasts this turtle’s translation and rotation, and publishes it as a transform from frameworldto frameturtleX.geometry_msgs::msg::TransformStampedt;// Read message content and assign it to// corresponding tf variablest.header.stamp=this->get_clock()->now();t.header.frame_id="world";t.child_frame_id=turtlename_.c_str();Here we copy the information from the 3D turtle pose into the 3D transform.// Turtle only exists in 2D, thus we get x and y translation// coordinates from the


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in 2D, thus we get x and y translation// coordinates from the message and set the z coordinate to 0t.transform.translation.x=msg->x;t.transform.translation.y=msg->y;t.transform.translation.z=0.0;// For the same reason, turtle can only rotate around one axis// and this why we set rotation in x and y to 0 and obtain// rotation in z axis from the messagetf2::Quaternionq;q.setRPY(0,0,msg->theta);t.transform.rotation.x=q.x();t.transform.rotation.y=q.y();t.transform.rotation.z=q.z();t.transform.rotation.w=q.w();Finally we take the transform that we constructed and pass it to thesendTransformmethod of theTransformBroadcasterthat will take care of broadcasting.// Send the transformationtf_broadcaster_->sendTransform(t);1.2 CMakeLists.txtNavigate one level back to thelearning_tf2_cppdirectory, where theCMakeLists.txtandpackage.xmlfiles are located.Now open theCMakeLists.txtadd the executable and name itturtle_tf2_broadcaster, which you’ll use later withros2run.add_executable(turtle_tf2_broadcaster


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use later withros2run.add_executable(turtle_tf2_broadcaster src/turtle_tf2_broadcaster.cpp)ament_target_dependencies(turtle_tf2_broadcastergeometry_msgsrclcpptf2tf2_rosturtlesim)Finally, add theinstall(TARGETS…)section soros2runcan find your executable:install(TARGETSturtle_tf2_broadcasterDESTINATION lib/${PROJECT_NAME})2 Write the launch fileNow create a launch file for this demo. Create alaunchfolder in thesrc/learning_tf2_cppdirectory. With your text editor, create a new file calledturtle_tf2_demo_launch.pyin thelaunchfolder, and add the following lines:fromlaunchimportLaunchDescriptionfromlaunch_ros.actionsimportNodedefgenerate_launch_description():returnLaunchDescription([Node(package='turtlesim',executable='turtlesim_node',name='sim'),Node(package='learning_tf2_cpp',executable='turtle_tf2_broadcaster',name='broadcaster1',parameters=[{'turtlename':'turtle1'}]),])2.1 Examine the codeFirst we import required modules from thelaunchandlaunch_rospackages. It should be noted thatlaunchis a generic launching


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It should be noted thatlaunchis a generic launching framework (not ROS 2 specific) andlaunch_roshas ROS 2 specific things, like nodes that we import here.fromlaunchimportLaunchDescriptionfromlaunch_ros.actionsimportNodeNow we run our nodes that start the turtlesim simulation and broadcastturtle1state to the tf2 using ourturtle_tf2_broadcasternode.Node(package='turtlesim',executable='turtlesim_node',name='sim'),Node(package='learning_tf2_cpp',executable='turtle_tf2_broadcaster',name='broadcaster1',parameters=[{'turtlename':'turtle1'}]),2.2 Add dependenciesNavigate one level back to thelearning_tf2_cppdirectory, where theCMakeLists.txtandpackage.xmlfiles are located.Openpackage.xmlwith your text editor. Add the following dependencies corresponding to your launch file’s import statements:<exec_depend>launch</exec_depend><exec_depend>launch_ros</exec_depend>This declares the additional requiredlaunchandlaunch_rosdependencies when its code is executed.Make sure to save the file.2.3


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when its code is executed.Make sure to save the file.2.3 CMakeLists.txtReopenCMakeLists.txtand add the line so that the launch files from thelaunch/folder will be installed.install(DIRECTORY launchDESTINATION share/${PROJECT_NAME})You can learn more about creating launch files inthis tutorial.3 BuildRunrosdepin the root of your workspace to check for missing dependencies.LinuxmacOSWindowsrosdep install -i --from-path src --rosdistro jazzy -yrosdep only runs on Linux, so you will need to installgeometry_msgsandturtlesimdependencies yourselfrosdep only runs on Linux, so you will need to installgeometry_msgsandturtlesimdependencies yourselfStill in the root of your workspace, build your package:LinuxmacOSWindowscolcon build --packages-select learning_tf2_cppcolcon build --packages-select learning_tf2_cppcolcon build --merge-install --packages-select learning_tf2_cppOpen a new terminal, navigate to the root of your workspace, and source the setup files:LinuxmacOSWindows. install/setup.bash.


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source the setup files:LinuxmacOSWindows. install/setup.bash. install/setup.bash#CMDcall install\setup.bat#Powershell.\install\setup.ps14 RunNow run the launch file that will start the turtlesim simulation node andturtle_tf2_broadcasternode:ros2 launch learning_tf2_cpp turtle_tf2_demo_launch.pyIn the second terminal window type the following command:ros2 run turtlesim turtle_teleop_keyYou will now see that the turtlesim simulation have started with one turtle that you can control.Now, use thetf2_echotool to check if the turtle pose is actually getting broadcast to tf2:ros2 run tf2_ros tf2_echo world turtle1This should show you the pose of the first turtle. Drive around the turtle using the arrow keys (make sure yourturtle_teleop_keyterminal window is active, not your simulator window). In your console output you will see something similar to this:At time 1625137663.912474878- Translation: [5.276, 7.930, 0.000]- Rotation: in Quaternion [0.000, 0.000, 0.934, -0.357]At time 1625137664.950813527- Translation:


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0.000, 0.934, -0.357]At time 1625137664.950813527- Translation: [3.750, 6.563, 0.000]- Rotation: in Quaternion [0.000, 0.000, 0.934, -0.357]At time 1625137665.906280726- Translation: [2.320, 5.282, 0.000]- Rotation: in Quaternion [0.000, 0.000, 0.934, -0.357]At time 1625137666.850775673- Translation: [2.153, 5.133, 0.000]- Rotation: in Quaternion [0.000, 0.000, -0.365, 0.931]If you runtf2_echofor the transform between theworldandturtle2, you should not see a transform, because the second turtle is not there yet. However, as soon as we add the second turtle in the next tutorial, the pose ofturtle2will be broadcast to tf2.SummaryIn this tutorial you learned how to broadcast the pose of the robot (position and orientation of the turtle) to tf2 and how to use thetf2_echotool. To actually use the transforms broadcasted to tf2, you should move on to the next tutorial about creating atf2 listener.


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Code Examples:

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wget https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp

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wget https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp

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curl

sk https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp

o turtle_tf2_broadcaster.cpp

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curl https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/turtle_tf2_broadcaster.cpp

o turtle_tf2_broadcaster.cpp


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Language: unknown #include<functional>#include<memory>#include<sstream>#include<string>#include"geometry_msgs/msg/transform_stamped.hpp"#include"rclcpp/rclcpp.hpp"#include"tf2/LinearMath/Quaternion.h"#include"tf2_ros/transform_broadcaster.h"#include"turtlesim/msg/pose.hpp"classFramePublisher:publicrclcpp::Node{public:FramePublisher():Node("turtle_tf2_frame_publisher"){// Declare and acquire `turtlename` parameterturtlename_=this->declare_parameter<std::string>("turtlename","turtle");// Initialize the transform broadcastertf_broadcaster_=std::make_unique<tf2_ros::TransformBroadcaster>(*this);// Subscribe to a turtle{1}{2}/pose topic and call handle_turtle_pose// callback function on each messagestd::ostringstreamstream;stream<<"/"<<turtlename_.c_str()<<"/pose";std::stringtopic_name=stream.str();autohandle_turtle_pose=[this](conststd::shared_ptr<turtlesim::msg::Pose>msg){geometry_msgs::msg::TransformStampedt;// Read message content and assign it to// corresponding tf


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Send the transformationtf_broadcaster_->sendTransform(t);};subscription_=this->create_subscription<turtlesim::msg::Pose>(topic_name,10,handle_turtle_pose);}private:rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtrsubscription_;std::unique_ptr<tf2_ros::TransformBroadcaster>tf_broadcaster_;std::stringturtlename_;};intmain(intargc,char*argv[]){rclcpp::init(argc,argv);rclcpp::spin(std::make_shared<FramePublisher>());rclcpp::shutdown();return0;}


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turtlename_=this

>declare_parameter<std::string>("turtlename","turtle");

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subscription_=this

>create_subscription<turtlesim::msg::Pose>(topic_name,10,handle_turtle_pose);

Language: unknown geometry_msgs::msg::TransformStampedt;// Read message content and assign it to// corresponding tf variablest.header.stamp=this->get_clock()->now();t.header.frame_id="world";t.child_frame_id=turtlename_.c_str();

Language: unknown // Turtle only exists in 2D, thus we get x and y translation// coordinates from the message and set the z coordinate to 0t.transform.translation.x=msg->x;t.transform.translation.y=msg->y;t.transform.translation.z=0.0;// For the same reason, turtle can only rotate around one axis// and this why we set rotation in x and y to 0 and obtain// rotation in z axis from the messagetf2::Quaternionq;q.setRPY(0,0,msg->theta);t.transform.rotation.x=q.x();t.transform.rotation.y=q.y();t.transform.rotation.z=q.z();t.transform.rotation.w=q.w();

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// Send the transformationtf_broadcaster_

>sendTransform(t);

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add_executable(turtle_tf2_broadcaster src/turtle_tf2_broadcaster.cpp)ament_target_dependencies(turtle_tf2_broadcastergeometry_msgsrclcpptf2tf2_rosturtlesim)

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install(TARGETSturtle_tf2_broadcasterDESTINATION lib/${PROJECT_NAME})

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fromlaunchimportLaunchDescriptionfromlaunch_ros.actionsimportNodedefgenerate_launch_description():returnLaunchDescription([Node(package='turtlesim',executable='turtlesim_node',name='sim'),Node(package='learning_tf2_cpp',executable='turtle_tf2_broadcaster',name='broadcaster1',parameters=[{'turtlename':'turtle1'}]),])

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fromlaunchimportLaunchDescriptionfromlaunch_ros.actionsimportNode

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Node(package='turtlesim',executable='turtlesim_node',name='sim'),Node(package='learning_tf2_cpp',executable='turtle_tf2_broadcaster',name='broadcaster1',parameters=[{'turtlename':'turtle1'}]),

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<exec_depend>launch</exec_depend><exec_depend>launch_ros</exec_depend>

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install(DIRECTORY launchDESTINATION share/${PROJECT_NAME})

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rosdep install

i -

from

path src -

rosdistro jazzy

y

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colcon build -

packages

select learning_tf2_cpp

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colcon build -

packages

select learning_tf2_cpp

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colcon build -

merge

install -

packages

select learning_tf2_cpp

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. install/setup.bash

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. install/setup.bash

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#CMDcall install\setup.bat#Powershell.\install\setup.ps1

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ros2 launch learning_tf2_cpp turtle_tf2_demo_launch.py

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ros2 run turtlesim turtle_teleop_key

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Language: unknown ros2 run tf2_ros tf2_echo world turtle1

Language: unknown At time 1625137663.912474878- Translation: [5.276, 7.930, 0.000]- Rotation: in Quaternion [0.000, 0.000, 0.934, -0.357]At time 1625137664.950813527- Translation: [3.750, 6.563, 0.000]- Rotation: in Quaternion [0.000, 0.000, 0.934, -0.357]At time 1625137665.906280726- Translation: [2.320, 5.282, 0.000]- Rotation: in Quaternion [0.000, 0.000, 0.934, -0.357]At time 1625137666.850775673- Translation: [2.153, 5.133, 0.000]- Rotation: in Quaternion [0.000, 0.000, -0.365, 0.931]


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Title: Launch

URL: https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Launch/Launch

Main.html

Section: Installation

--------------------------------------------------------------------------------


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LaunchROS 2 Launch files allow you to start up and configure a number of executables containing ROS 2 nodes simultaneously.Creating a launch file.Learn how to create a launch file that will start up nodes and their configurations all at once.Launching and monitoring multiple nodes.Get a more advanced overview of how launch files work.Using substitutions.Use substitutions to provide more flexibility when describing reusable launch files.Using event handlers.Use event handlers to monitor the state of processes or to define a complex set of rules that can be used to dynamically modify the launch file.Managing large projects.Structure launch files for large projects so they may be reused as much as possible in different situations. See usage examples of different launch tools like parameters, YAML files, remappings, namespaces, default arguments, and RViz configs.NoteIf you are coming from ROS 1, you can use theROS Launch Migration guideto help you migrate your launch files to ROS 2.


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Title: Migrating your package.xml to format 2 URL: https://docs.ros.org/en/jazzy/How-To-Guides/Migrating-from-ROS1/Migrating-Package-XML.html Section: Installation --------------------------------------------------------------------------------


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Migrating your package.xml to format 2Table of ContentsPrerequisitesMigrate from format 1 to 2Addformatattribute to<package>Replace<run_depend>Convert some<build_depend>to<test_depend>Begin using<doc_depend>Simplify dependencies with<depend>Test your newpackage.xmlROS 2 requirespackage.xmlfiles to use at leastformat 2. This guide shows how to migrate apackage.xmlfrom format 1 to format 2.If the<package>tag at the start of yourpackage.xmllooks like either of the following, then it is using format 1 and you must migrate it.<package><packageformat="1">PrerequisitesYou should have a working ROS 1 installation. This enables you to check that the convertedpackage.xmlis valid by building and testing the package, since ROS 1 supports allpackage.xmlformat versions.Migrate from format 1 to 2Format 1 and format 2 differ in how they specify dependencies. Read thecompatibility section in REP-0140for a summary of the differences.Addformatattribute to<package>Add or set theformatattribute to2to indicate that


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to<package>Add or set theformatattribute to2to indicate that thepackage.xmluses format 2.<packageformat="2">Replace<run_depend>The<run_depend>tag is no longer allowed. If you have a dependency specified like this:<run_depend>foo</run_depend>then replace it with one or both of these tags:<build_export_depend>foo</build_export_depend><exec_depend>foo</exec_depend>If the dependency is needed when something in your package is executed, then use the<exec_depend>tag. If packages that depend on your package need the dependency when they are built, then use the<build_export_depend>tag. Use both tags if you are unsure.Convert some<build_depend>to<test_depend>In format 1<test_depend>declares dependencies that are needed when running your package’s tests. It still does that in format 2, but it additionally declares dependencies that are needed when building your package’s tests.Because of the limitations of this tag in format 1, your package may have a test-only dependency specified as a<build_depend>like


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have a test-only dependency specified as a<build_depend>like this:<build_depend>testfoo</build_depend>If so, change it to a<test_depend>.<test_depend>testfoo</test_depend>NoteIf you are using CMake, then make sure your test dependencies are only referenced within aif(BUILD_TESTING)block:if(BUILD_TESTING)find_package(testfooREQUIRED)endif()Begin using<doc_depend>Use the new<doc_depend>tag to declare dependencies needed for building your package’s documentation. For example, C++ packages might have this dependency:<doc_depend>doxygen</doc_depend>while Python packages might have this one:<doc_depend>python3-sphinx</doc_depend>Seethe guide on documenting ROS 2 packagesfor more information.Simplify dependencies with<depend><depend>is a new tag that makespackage.xmlfiles more concise. If yourpackage.xmlhas these three tags for the same dependency:<build_depend>foo</build_depend><build_export_depend>foo</build_export_depend><exec_depend>foo</exec_depend>then replace them with a single<depend>like


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replace them with a single<depend>like this:<depend>foo</depend>Test your newpackage.xmlBuild and test your package as you normally do usingcatkin_make,cakin_make_isolated, or thecatkinbuild tool. If everything succeeds, then yourpackage.xmlis valid.


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Code Examples:

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<package>

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<run_depend>foo</run_depend>

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<build_export_depend>foo</build_export_depend><exec_depend>foo</exec_depend>

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if(BUILD_TESTING)find_package(testfooREQUIRED)endif()

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sphinx</doc_depend>

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<depend>foo</depend>


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Title: Using Python, XML, and YAML for ROS 2 Launch Files URL: https://docs.ros.org/en/jazzy/How-To-Guides/Launch-file-different-formats.html Section: Installation --------------------------------------------------------------------------------


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Using Python, XML, and YAML for ROS 2 Launch FilesTable of ContentsLaunch file examplesUsing the Launch files from the command linePython, XML, or YAML: Which should I use?ROS 2 launch files can be written in Python, XML, and YAML. This guide shows how to use these different formats to accomplish the same task, as well as has some discussion on when to use each format.Launch file examplesBelow is a launch file implemented in Python, XML, and YAML. Each launch file performs the following actions:Setup command line arguments with defaultsInclude another launch fileInclude another launch file in another namespaceStart a node and setting its namespaceStart a node, setting its namespace, and setting parameters in that node (using the args)Create a node to remap messages from one topic to anotherPythonXMLYAML#


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node to remap messages from one topic to anotherPythonXMLYAML# example_launch.pyimportosfromament_index_pythonimportget_package_share_directoryfromlaunchimportLaunchDescriptionfromlaunch.actionsimportDeclareLaunchArgumentfromlaunch.actionsimportGroupActionfromlaunch.actionsimportIncludeLaunchDescriptionfromlaunch.launch_description_sourcesimportPythonLaunchDescriptionSourcefromlaunch.substitutionsimportLaunchConfigurationfromlaunch.substitutionsimportTextSubstitutionfromlaunch_ros.actionsimportNodefromlaunch_ros.actionsimportPushROSNamespacefromlaunch_xml.launch_description_sourcesimportXMLLaunchDescriptionSourcefromlaunch_yaml.launch_description_sourcesimportYAMLLaunchDescriptionSourcedefgenerate_launch_description():# args that can be set from the command line or a default will be


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args that can be set from the command line or a default will be usedbackground_r_launch_arg=DeclareLaunchArgument("background_r",default_value=TextSubstitution(text="0"))background_g_launch_arg=DeclareLaunchArgument("background_g",default_value=TextSubstitution(text="255"))background_b_launch_arg=DeclareLaunchArgument("background_b",default_value=TextSubstitution(text="0"))chatter_py_ns_launch_arg=DeclareLaunchArgument("chatter_py_ns",default_value=TextSubstitution(text="chatter/py/ns"))chatter_xml_ns_launch_arg=DeclareLaunchArgument("chatter_xml_ns",default_value=TextSubstitution(text="chatter/xml/ns"))chatter_yaml_ns_launch_arg=DeclareLaunchArgument("chatter_yaml_ns",default_value=TextSubstitution(text="chatter/yaml/ns"))# include another launch filelaunch_include=IncludeLaunchDescription(PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('demo_nodes_cpp'),'launch/topics/talker_listener_launch.py')))# include a Python launch file in the chatter_py_ns


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include a Python launch file in the chatter_py_ns namespacelaunch_py_include_with_namespace=GroupAction(actions=[# push_ros_namespace first to set namespace of included nodes for following actionsPushROSNamespace('chatter_py_ns'),IncludeLaunchDescription(PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('demo_nodes_cpp'),'launch/topics/talker_listener_launch.py'))),])# include a xml launch file in the chatter_xml_ns namespacelaunch_xml_include_with_namespace=GroupAction(actions=[# push_ros_namespace first to set namespace of included nodes for following actionsPushROSNamespace('chatter_xml_ns'),IncludeLaunchDescription(XMLLaunchDescriptionSource(os.path.join(get_package_share_directory('demo_nodes_cpp'),'launch/topics/talker_listener_launch.xml'))),])# include a yaml launch file in the chatter_yaml_ns namespacelaunch_yaml_include_with_namespace=GroupAction(actions=[# push_ros_namespace first to set namespace of included nodes for following


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first to set namespace of included nodes for following actionsPushROSNamespace('chatter_yaml_ns'),IncludeLaunchDescription(YAMLLaunchDescriptionSource(os.path.join(get_package_share_directory('demo_nodes_cpp'),'launch/topics/talker_listener_launch.yaml'))),])# start a turtlesim_node in the turtlesim1 namespaceturtlesim_node=Node(package='turtlesim',namespace='turtlesim1',executable='turtlesim_node',name='sim')# start another turtlesim_node in the turtlesim2 namespace# and use args to set parametersturtlesim_node_with_parameters=Node(package='turtlesim',namespace='turtlesim2',executable='turtlesim_node',name='sim',parameters=[{"background_r":LaunchConfiguration('background_r'),"background_g":LaunchConfiguration('background_g'),"background_b":LaunchConfiguration('background_b'),}])# perform remap so both turtles listen to the same command


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perform remap so both turtles listen to the same command topicforward_turtlesim_commands_to_second_turtlesim_node=Node(package='turtlesim',executable='mimic',name='mimic',remappings=[('/input/pose','/turtlesim1/turtle1/pose'),('/output/cmd_vel','/turtlesim2/turtle1/cmd_vel'),])returnLaunchDescription([background_r_launch_arg,background_g_launch_arg,background_b_launch_arg,chatter_py_ns_launch_arg,chatter_xml_ns_launch_arg,chatter_yaml_ns_launch_arg,launch_include,launch_py_include_with_namespace,launch_xml_include_with_namespace,launch_yaml_include_with_namespace,turtlesim_node,turtlesim_node_with_parameters,forward_turtlesim_commands_to_second_turtlesim_node,])<!-- example_launch.xml --><launch><!-- args that can be set from the command line or a default will be used


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that can be set from the command line or a default will be used --><argname="background_r"default="0"/><argname="background_g"default="255"/><argname="background_b"default="0"/><argname="chatter_py_ns"default="chatter/py/ns"/><argname="chatter_xml_ns"default="chatter/xml/ns"/><argname="chatter_yaml_ns"default="chatter/yaml/ns"/><!-- include another launch file --><includefile="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.py"/><!-- include a Python launch file in the chatter_py_ns namespace--><group><!-- push_ros_namespace to set namespace of included nodes --><push_ros_namespacenamespace="$(var chatter_py_ns)"/><includefile="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.py"/></group><!-- include a xml launch file in the chatter_xml_ns namespace--><group><!-- push_ros_namespace to set namespace of included nodes --><push_ros_namespacenamespace="$(var chatter_xml_ns)"/><includefile="$(find-pkg-share


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chatter_xml_ns)"/><includefile="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.xml"/></group><!-- include a yaml launch file in the chatter_yaml_ns namespace--><group><!-- push_ros_namespace to set namespace of included nodes --><push_ros_namespacenamespace="$(var chatter_yaml_ns)"/><includefile="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.yaml"/></group><!-- start a turtlesim_node in the turtlesim1 namespace --><nodepkg="turtlesim"exec="turtlesim_node"name="sim"namespace="turtlesim1"/><!-- start another turtlesim_node in the turtlesim2 namespaceand use args to set parameters --><nodepkg="turtlesim"exec="turtlesim_node"name="sim"namespace="turtlesim2"><paramname="background_r"value="$(var background_r)"/><paramname="background_g"value="$(var background_g)"/><paramname="background_b"value="$(var background_b)"/></node><!-- perform remap so both turtles listen to the same command topic


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perform remap so both turtles listen to the same command topic --><nodepkg="turtlesim"exec="mimic"name="mimic"><remapfrom="/input/pose"to="/turtlesim1/turtle1/pose"/><remapfrom="/output/cmd_vel"to="/turtlesim2/turtle1/cmd_vel"/></node></launch># example_launch.yamllaunch:# args that can be set from the command line or a default will be used-arg:name:"background_r"default:"0"-arg:name:"background_g"default:"255"-arg:name:"background_b"default:"0"-arg:name:"chatter_py_ns"default:"chatter/py/ns"-arg:name:"chatter_xml_ns"default:"chatter/xml/ns"-arg:name:"chatter_yaml_ns"default:"chatter/yaml/ns"# include another launch file-include:file:"$(find-pkg-sharedemo_nodes_cpp)/launch/topics/talker_listener_launch.py"# include a Python launch file in the chatter_py_ns namespace-group:-push_ros_namespace:namespace:"$(varchatter_py_ns)"-include:file:"$(find-pkg-sharedemo_nodes_cpp)/launch/topics/talker_listener_launch.py"# include a xml launch file in the chatter_xml_ns


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include a xml launch file in the chatter_xml_ns namespace-group:-push_ros_namespace:namespace:"$(varchatter_xml_ns)"-include:file:"$(find-pkg-sharedemo_nodes_cpp)/launch/topics/talker_listener_launch.xml"# include a yaml launch file in the chatter_yaml_ns namespace-group:-push_ros_namespace:namespace:"$(varchatter_yaml_ns)"-include:file:"$(find-pkg-sharedemo_nodes_cpp)/launch/topics/talker_listener_launch.yaml"# start a turtlesim_node in the turtlesim1 namespace-node:pkg:"turtlesim"exec:"turtlesim_node"name:"sim"namespace:"turtlesim1"# start another turtlesim_node in the turtlesim2 namespace and use args to set parameters-node:pkg:"turtlesim"exec:"turtlesim_node"name:"sim"namespace:"turtlesim2"param:-name:"background_r"value:"$(varbackground_r)"-name:"background_g"value:"$(varbackground_g)"-name:"background_b"value:"$(varbackground_b)"# perform remap so both turtles listen to the same command


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perform remap so both turtles listen to the same command topic-node:pkg:"turtlesim"exec:"mimic"name:"mimic"remap:-from:"/input/pose"to:"/turtlesim1/turtle1/pose"-from:"/output/cmd_vel"to:"/turtlesim2/turtle1/cmd_vel"Using the Launch files from the command lineLaunchingAny of the launch files above can be run withros2launch. To try them locally, you can either create a new package and useros2 launch <package_name> <launch_file_name>or run the file directly by specifying the path to the launch fileros2 launch <path_to_launch_file>Setting argumentsTo set the arguments that are passed to the launch file, you should usekey:=valuesyntax. For example, you can set the value ofbackground_rin the following way:ros2 launch <package_name> <launch_file_name> background_r:=255orros2 launch <path_to_launch_file> background_r:=255Controlling the turtlesTo test that the remapping is working, you can control the turtles by running the following command in another terminal:ros2 run turtlesim turtle_teleop_key --ros-args


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terminal:ros2 run turtlesim turtle_teleop_key --ros-args --remap __ns:=/turtlesim1Python, XML, or YAML: Which should I use?NoteLaunch files in ROS 1 were written in XML, so XML may be the most familiar to people coming from ROS 1. To see what’s changed, you can visitMigrating Launch Files.For most applications the choice of which ROS 2 launch format comes down to developer preference. However, if your launch file requires flexibility that you cannot achieve with XML or YAML, you can use Python to write your launch file. Using Python for ROS 2 launch is more flexible because of following two reasons:Python is a scripting language, and thus you can leverage the language and its libraries in your launch files.ros2/launch(general launch features) andros2/launch_ros(ROS 2 specific launch features) are written in Python and thus you have lower level access to launch features that may not be exposed by XML and YAML.That being said, a launch file written in Python may be more complex and verbose than one in XML or


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Language: unknown # example_launch.pyimportosfromament_index_pythonimportget_package_share_directoryfromlaunchimportLaunchDescriptionfromlaunch.actionsimportDeclareLaunchArgumentfromlaunch.actionsimportGroupActionfromlaunch.actionsimportIncludeLaunchDescriptionfromlaunch.launch_description_sourcesimportPythonLaunchDescriptionSourcefromlaunch.substitutionsimportLaunchConfigurationfromlaunch.substitutionsimportTextSubstitutionfromlaunch_ros.actionsimportNodefromlaunch_ros.actionsimportPushROSNamespacefromlaunch_xml.launch_description_sourcesimportXMLLaunchDescriptionSourcefromlaunch_yaml.launch_description_sourcesimportYAMLLaunchDescriptionSourcedefgenerate_launch_description():# args that can be set from the command line or a default will be


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perform remap so both turtles listen to the same command topicforward_turtlesim_commands_to_second_turtlesim_node=Node(package='turtlesim',executable='mimic',name='mimic',remappings=[('/input/pose','/turtlesim1/turtle1/pose'),('/output/cmd_vel','/turtlesim2/turtle1/cmd_vel'),])returnLaunchDescription([background_r_launch_arg,background_g_launch_arg,background_b_launch_arg,chatter_py_ns_launch_arg,chatter_xml_ns_launch_arg,chatter_yaml_ns_launch_arg,launch_include,launch_py_include_with_namespace,launch_xml_include_with_namespace,launch_yaml_include_with_namespace,turtlesim_node,turtlesim_node_with_parameters,forward_turtlesim_commands_to_second_turtlesim_node,])


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Language: unknown <!-- example_launch.xml --><launch><!-- args that can be set from the command line or a default will be used --><argname="background_r"default="0"/><argname="background_g"default="255"/><argname="background_b"default="0"/><argname="chatter_py_ns"default="chatter/py/ns"/><argname="chatter_xml_ns"default="chatter/xml/ns"/><argname="chatter_yaml_ns"default="chatter/yaml/ns"/><!-- include another launch file --><includefile="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.py"/><!-- include a Python launch file in the chatter_py_ns namespace--><group><!-- push_ros_namespace to set namespace of included nodes --><push_ros_namespacenamespace="$(var chatter_py_ns)"/><includefile="$(find-pkg-share demo_nodes_cpp)/launch/topics/talker_listener_launch.py"/></group><!-- include a xml launch file in the chatter_xml_ns namespace--><group><!-- push_ros_namespace to set namespace of included nodes --><push_ros_namespacenamespace="$(var chatter_xml_ns)"/><includefile="$(find-pkg-share


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perform remap so both turtles listen to the same command topic --><nodepkg="turtlesim"exec="mimic"name="mimic"><remapfrom="/input/pose"to="/turtlesim1/turtle1/pose"/><remapfrom="/output/cmd_vel"to="/turtlesim2/turtle1/cmd_vel"/></node></launch>


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Language: unknown # example_launch.yamllaunch:# args that can be set from the command line or a default will be used-arg:name:"background_r"default:"0"-arg:name:"background_g"default:"255"-arg:name:"background_b"default:"0"-arg:name:"chatter_py_ns"default:"chatter/py/ns"-arg:name:"chatter_xml_ns"default:"chatter/xml/ns"-arg:name:"chatter_yaml_ns"default:"chatter/yaml/ns"# include another launch file-include:file:"$(find-pkg-sharedemo_nodes_cpp)/launch/topics/talker_listener_launch.py"# include a Python launch file in the chatter_py_ns namespace-group:-push_ros_namespace:namespace:"$(varchatter_py_ns)"-include:file:"$(find-pkg-sharedemo_nodes_cpp)/launch/topics/talker_listener_launch.py"# include a xml launch file in the chatter_xml_ns namespace-group:-push_ros_namespace:namespace:"$(varchatter_xml_ns)"-include:file:"$(find-pkg-sharedemo_nodes_cpp)/launch/topics/talker_listener_launch.xml"# include a yaml launch file in the chatter_yaml_ns


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include a yaml launch file in the chatter_yaml_ns namespace-group:-push_ros_namespace:namespace:"$(varchatter_yaml_ns)"-include:file:"$(find-pkg-sharedemo_nodes_cpp)/launch/topics/talker_listener_launch.yaml"# start a turtlesim_node in the turtlesim1 namespace-node:pkg:"turtlesim"exec:"turtlesim_node"name:"sim"namespace:"turtlesim1"# start another turtlesim_node in the turtlesim2 namespace and use args to set parameters-node:pkg:"turtlesim"exec:"turtlesim_node"name:"sim"namespace:"turtlesim2"param:-name:"background_r"value:"$(varbackground_r)"-name:"background_g"value:"$(varbackground_g)"-name:"background_b"value:"$(varbackground_b)"# perform remap so both turtles listen to the same command topic-node:pkg:"turtlesim"exec:"mimic"name:"mimic"remap:-from:"/input/pose"to:"/turtlesim1/turtle1/pose"-from:"/output/cmd_vel"to:"/turtlesim2/turtle1/cmd_vel"


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ros2 launch <package_name> <launch_file_name>

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ros2 launch <path_to_launch_file>

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ros2 launch <path_to_launch_file> background_r:=255

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Title: Jazzy Jalisco changelog

URL: https://docs.ros.org/en/jazzy/Releases/Jazzy

Jalisco

Complete

Changelog.html

Section: Installation

--------------------------------------------------------------------------------


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Jazzy Jalisco changelogThis page is a list of the complete changes in all ROS 2 core packages since the previous release.Table of


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Contentsaction_tutorials_cppaction_tutorials_interfacesaction_tutorials_pyactionlib_msgsament_clang_formatament_clang_tidyament_cmakeament_cmake_autoament_cmake_clang_formatament_cmake_clang_tidyament_cmake_copyrightament_cmake_coreament_cmake_cppcheckament_cmake_cpplintament_cmake_export_definitionsament_cmake_export_dependenciesament_cmake_export_include_directoriesament_cmake_export_interfacesament_cmake_export_librariesament_cmake_export_link_flagsament_cmake_export_targetsament_cmake_flake8ament_cmake_gen_version_hament_cmake_gmockament_cmake_google_benchmarkament_cmake_gtestament_cmake_include_directoriesament_cmake_librariesament_cmake_lint_cmakeament_cmake_mypyament_cmake_pclintament_cmake_pep257ament_cmake_pycodestyleament_cmake_pyflakesament_cmake_pytestament_cmake_pythonament_cmake_target_dependenciesament_cmake_testament_cmake_uncrustifyament_cmake_vendor_packageament_cmake_versionament_cmake_xmllintament_copyrightament_cppcheckament_cpplintament_flake8ament_index_cppament_index_pythonament_linta


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_cpplintament_flake8ament_index_cppament_index_pythonament_lintament_lint_autoament_lint_cmakeament_lint_commonament_mypyament_packageament_pclintament_pep257ament_pycodestyleament_pyflakesament_uncrustifyament_xmllintcamera_calibration_parserscamera_info_managerclass_loadercommon_interfacescompositiondemo_nodes_cppdemo_nodes_cpp_nativedemo_nodes_pydiagnostic_msgsdummy_map_serverdummy_robot_bringupdummy_sensorsexample_interfacesexamples_rclcpp_minimal_subscriberexamples_rclcpp_wait_setfoonathan_memory_vendorgeometry_msgsgoogle_benchmark_vendorgz_cmake_vendorgz_math_vendorgz_utils_vendorimage_toolsimage_transportinteractive_markersintra_process_demokdl_parserkeyboard_handlerlaser_geometrylaunchlaunch_pytestlaunch_roslaunch_testinglaunch_testing_exampleslaunch_testing_roslaunch_xmllaunch_yamllibcurl_vendorliblz4_vendorlibstatistics_collectorlibyaml_vendorlifecyclelifecycle_pylogging_demolttngpymap_msgsmcap_vendormessage_filtersmimick_vendornav_msgsorocos_kdl_vendorosrf_pycommonosrf_testing_tools_cpppendulum_con


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orocos_kdl_vendorosrf_pycommonosrf_testing_tools_cpppendulum_controlpendulum_msgspluginlibpybind11_vendorpython_cmake_modulepython_orocos_kdl_vendorpython_qt_bindingqt_dotgraphqt_guiqt_gui_cppquality_of_service_demo_cppquality_of_service_demo_pyrclrcl_actionrcl_interfacesrcl_lifecyclercl_logging_interfacercl_logging_nooprcl_logging_spdlogrcl_yaml_param_parserrclcpprclcpp_actionrclcpp_componentsrclcpp_lifecyclerclpyrcpputilsrcutilsresource_retrieverrmwrmw_connextddsrmw_connextdds_commonrmw_connextddsmicrormw_cyclonedds_cpprmw_dds_commonrmw_fastrtps_cpprmw_fastrtps_dynamic_cpprmw_fastrtps_shared_cpprmw_implementationrobot_state_publisherros2actionros2bagros2cliros2cli_test_interfacesros2componentros2doctorros2interfaceros2paramros2pkgros2serviceros2topicros2tracerosbag2_compressionrosbag2_compression_zstdrosbag2_cpprosbag2_examples_cpprosbag2_examples_pyrosbag2_interfacesrosbag2_performance_benchmarkingrosbag2_pyrosbag2_storagerosbag2_storage_mcaprosbag2_storage_sqlite3rosbag2_test_commonrosbag2_test_msgdefsros


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osbag2_storage_sqlite3rosbag2_test_commonrosbag2_test_msgdefsrosbag2_testsrosbag2_transportrosidl_cmakerosidl_dynamic_typesupportrosidl_generator_crosidl_generator_cpprosidl_generator_dds_idlrosidl_generator_pyrosidl_generator_testsrosidl_generator_type_descriptionrosidl_parserrosidl_pycommonrosidl_runtime_crosidl_runtime_cpprosidl_runtime_pyrosidl_typesupport_crosidl_typesupport_cpprosidl_typesupport_fastrtps_crosidl_typesupport_fastrtps_cpprosidl_typesupport_introspection_crosidl_typesupport_introspection_cpprosidl_typesupport_introspection_testsrosidl_typesupport_testsrpyutilsrqtrqt_bagrqt_bag_pluginsrqt_consolerqt_graphrqt_gui_cpprqt_gui_pyrqt_msgrqt_plotrqt_publisherrqt_py_commonrqt_py_consolerqt_reconfigurerqt_service_callerrqt_shellrqt_srvrqt_topicrti_connext_dds_cmake_modulerttestrviz2rviz_assimp_vendorrviz_commonrviz_default_pluginsrviz_ogre_vendorrviz_renderingrviz_rendering_testsrviz_visual_testing_frameworksensor_msgssensor_msgs_pyshape_msgsshared_queues_vendorspdlog_vendorsqlite3_vendorsros2std_m


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pe_msgsshared_queues_vendorspdlog_vendorsqlite3_vendorsros2std_msgsstd_srvsstereo_msgstest_clitest_cli_remappingtest_communicationtest_launch_rostest_launch_testingtest_msgstest_quality_of_servicetest_rclcpptest_rmw_implementationtest_ros2tracetest_securitytest_tf2test_tracetoolstest_tracetools_launchtf2tf2_bullettf2_eigentf2_eigen_kdltf2_geometry_msgstf2_kdltf2_pytf2_rostf2_ros_pytf2_sensor_msgstf2_toolstopic_monitortopic_statistics_demotracetoolstracetools_launchtracetools_readtracetools_testtracetools_tracetrajectory_msgsturtlesimuncrustify_vendorunique_identifier_msgsurdfurdf_parser_pluginvisualization_msgsyaml_cpp_vendorzstd_vendoraction_tutorials_cppUpdate


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maintainer list in package.xml files (#665)Fix format-security warning with clang. (#663)Migrate std::bind calls to lambda expressions (#659)Contributors: Chris Lalancette, Felipe Gomes de Melo, Michael Jeronimoaction_tutorials_interfacesUpdate maintainer list in package.xml files (#665)Contributors: Michael Jeronimoaction_tutorials_pyUpdate maintainer list in package.xml files (#665)Add tests to action_tutorials_py. (#664)Contributors: Chris Lalancette, Michael Jeronimoactionlib_msgsClarify the license. (#241) In particular, every package in this repository is Apache 2.0 licensed except for sensor_msgs_py.  So move the CONTRIBUTING.md and LICENSE files down into the individual packages, and make sure that sensor_msgs_py has the correct CONTRIBUTING.md file (it already had the correct LICENSE file).Contributors: Chris Lalancetteament_clang_formatUpdate maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_clang_tidyUpdate maintainer list in package.xml files (#474)Fix a warning


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maintainer list in package.xml files (#474)Fix a warning from newer versions of flake8. (#469)remove AMENT_IGNORE check in clang-tidy when looking for compilation db (#441)Contributors: Alberto Soragna, Chris Lalancette, Michael Jeronimoament_cmakeUpdate maintainer list in package.xml files (#503)Contributors: Michael Jeronimoament_cmake_autoUpdate maintainer list in package.xml files (#503)Add ament_auto_add_gmock to ament_cmake_auto (#482)Contributors: Jordan Palacios, Michael Jeronimoament_cmake_clang_formatUpdate maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_cmake_clang_tidyUpdate maintainer list in package.xml files (#474)Provide –header-filter and –jobs to CMake. (#450)Contributors: Michael Jeronimo, Roderick Taylorament_cmake_copyrightUpdate maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_cmake_coreSet hints to find the python version we actually want. (#508)Update maintainer list in package.xml files (#503)Use


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(#508)Update maintainer list in package.xml files (#503)Use CMAKE_CURRENT_BINARY_DIR instead of CMAKE_BINARY_DIR  in ament_generate_environment (#485)Fix CMake error when entire ament projects are added via add_subdirectory (#484)Contributors: Chris Lalancette, Michael Jeronimo, Silvio Traversaroament_cmake_cppcheckUpdate maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_cmake_cpplintIncreased cpplint timeout by default on Windows (#486)Update maintainer list in package.xml files (#474)Contributors: Alejandro Hernández Cordero, Michael Jeronimoament_cmake_export_definitionsUpdate maintainer list in package.xml files (#503)Contributors: Michael Jeronimoament_cmake_export_dependenciesUpdate maintainer list in package.xml files (#503)Contributors: Michael Jeronimoament_cmake_export_include_directoriesUpdate maintainer list in package.xml files (#503)Contributors: Michael Jeronimoament_cmake_export_interfacesUpdate maintainer list in package.xml files (#503)Contributors:


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maintainer list in package.xml files (#503)Contributors: Michael Jeronimoament_cmake_export_librariesUpdate maintainer list in package.xml files (#503)Contributors: Michael Jeronimoament_cmake_export_link_flagsUpdate maintainer list in package.xml files (#503)Contributors: Michael Jeronimoament_cmake_export_targetsUpdate maintainer list in package.xml files (#503)Add NAMESPACE support to ament_export_targets (#498)Contributors: Michael Jeronimo, Ryanament_cmake_flake8Update maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_cmake_gen_version_hUpdate maintainer list in package.xml files (#503)Update to C++17 (#488)Contributors: Chris Lalancette, Michael Jeronimoament_cmake_gmockUpdate maintainer list in package.xml files (#503)Split ament_add_gmock into _executable and _test. (#497)Contributors: Chris Lalancette, Michael Jeronimoament_cmake_google_benchmarkUpdate maintainer list in package.xml files (#503)Contributors: Michael Jeronimoament_cmake_gtestUpdate maintainer list


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Michael Jeronimoament_cmake_gtestUpdate maintainer list in package.xml files (#503)Split ament_add_gmock into _executable and _test. (#497)ament_add_gtest_test: add TEST_NAME parameter (#492)Contributors: Chris Lalancette, Christopher Wecht, Michael Jeronimoament_cmake_include_directoriesUpdate maintainer list in package.xml files (#503)Contributors: Michael Jeronimoament_cmake_librariesperf: faster ament_libraries_deduplicate implementation (#448) Co-authored-by: Scott K Logan <logans@cottsay.net>Subtle fix for ament_libraries_deduplicate tests (#516)Add some basic tests to ament_cmake_libraries (#512)Update maintainer list in package.xml files (#503)Contributors: Michael Jeronimo, Scott K Logan, Vincent Richardament_cmake_lint_cmakeUpdate maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_cmake_mypyUpdate maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_cmake_pclintUpdate maintainer list in package.xml files (#474)Contributors: Michael


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list in package.xml files (#474)Contributors: Michael Jeronimoament_cmake_pep257Update maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_cmake_pycodestyleUpdate maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_cmake_pyflakesUpdate maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_cmake_pytestUpdate maintainer list in package.xml files (#503)Contributors: Michael Jeronimoament_cmake_pythonAdd in a comment explaining where Python3::Interpreter comes from. (#510)Update maintainer list in package.xml files (#503)Contributors: Chris Lalancette, Michael Jeronimoament_cmake_target_dependenciesUpdate maintainer list in package.xml files (#503)Fixament_target_dependencies(#452)Contributors: Michael Jeronimo, Vincent Richardament_cmake_testUpdate maintainer list in package.xml files (#503)Recursively check for errors/failures in produced JUnit result XMLs (#446)Contributors: Michael Jeronimo, Nick


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JUnit result XMLs (#446)Contributors: Michael Jeronimo, Nick Moralesament_cmake_uncrustifyAdded Timeout to ament_uncrustify (#485)Update maintainer list in package.xml files (#474)Contributors: Alejandro Hernández Cordero, Michael Jeronimoament_cmake_vendor_packageAdd more CMake variables to pass to vendor projects (#519)Fix patch file dependencies in ament_cmake_vendor_package (#520)Update maintainer list in package.xml files (#503)Always set CMAKE_C[XX]_COMPILER for vendor packages if needed (#476)Switch to CMake ‘braket arguments’ (#461)Replace ‘git’ dep with ‘vcstool’ (#462)Add support for specifying a patch directory in ament_vendor (#449)Contributors: Christophe Bedard, Michael Jeronimo, Scott K Loganament_cmake_versionUpdate maintainer list in package.xml files (#503)Contributors: Michael Jeronimoament_cmake_xmllintUpdate maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_copyrightSmall fixes for modern flake8. (#484)Fix add-copyright year function (#466)Update


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flake8. (#484)Fix add-copyright year function (#466)Update maintainer list in package.xml files (#474)Contributors: Chris Lalancette, Lloyd Pearson, Michael Jeronimoament_cppcheckUpdate maintainer list in package.xml files (#474)Add in checks to ament_cppcheck code. (#472)Contributors: Chris Lalancette, Michael Jeronimoament_cpplintUpdate maintainer list in package.xml files (#474)Pass –output argument to cpplint (#453)Contributors: Michael Jeronimo, Vladimir Ivanament_flake8Update maintainer list in package.xml files (#474)Changes to make ament_flake8 work with v6+ (#459)Add additional dependencies to ament_flake8. (#454)Fix compatibility with flake8 version 5 (#410)Contributors: Chris Lalancette, Michael Carroll, Michael Jeronimo, Timo Röhlingament_index_cppUpdate quality declaration documents (#94)only append search paths on first PackageNotFound (#91)Update to C++17 (#90)Contributors: Chris Lalancette, Christophe Bedard, Lucas Walterament_index_pythonUpdate quality declaration documents (#94)Add


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quality declaration documents (#94)Add type annotations to python files. (#93)Contributors: Christophe Bedard, Michael Carlstromament_lintUpdate maintainer list in package.xml files (#474)Add an ament_lint test dependency on python3-pytest. (#473)Contributors: Chris Lalancette, Michael Jeronimoament_lint_autoUpdate maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_lint_cmakeUpdate maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_lint_commonUpdate maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_mypyUpdate maintainer list in package.xml files (#474)Fix a flake8 warning in ament_mypy. (#470) No need for parentheses around an assert.Contributors: Chris Lalancette, Michael Jeronimoament_packageMigrate from legacy importlib-resources (#143)Add setuptools dependency back in. (#141)Make python dependencies exec_depend. (#140)Contributors: Chris Lalancette, Isabel Paredesament_pclintUpdate maintainer list in package.xml


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Paredesament_pclintUpdate maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_pep257Update maintainer list in package.xml files (#474)Convert linenumber to string when printing errors (#443)Contributors: Michael Jeronimo, Robert Brothersament_pycodestyleUpdate maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_pyflakesUpdate maintainer list in package.xml files (#474)Contributors: Michael Jeronimoament_uncrustifyAdds uncrustify 0.78.1 config (#475)Update maintainer list in package.xml files (#474)Fix a flake8 warning in ament_uncrustify. (#471)Contributors: Chris Lalancette, Marco A. Gutierrez, Michael Jeronimoament_xmllintUpdate maintainer list in package.xml files (#474)(ament_xmllint) add extensions argument (#456)Contributors: Matthijs van der Burgh, Michael Jeronimocamera_calibration_parsersUpdate to yaml-cpp 0.8.0. (#305)Switch from rcpputils::fs to std::filesystem (#300)Removed C headers: camera_info_manager camera_calibration_parsers


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C headers: camera_info_manager camera_calibration_parsers (#290)Contributors: Alejandro Hernández Cordero, Chris Lalancette, Christophe Bedardcamera_info_managerSwitch from rcpputils::fs to std::filesystem (#300)Removed C headers: camera_info_manager camera_calibration_parsers (#290)Contributors: Alejandro Hernández Cordero, Christophe Bedardclass_loaderRemove all uses of ament_target_dependencies. (#210)Update to C++17 (#209)Contributors: Chris Lalancettecommon_interfacesClarify the license. (#241) In particular, every package in this repository is Apache 2.0 licensed except for sensor_msgs_py.  So move the CONTRIBUTING.md and LICENSE files down into the individual packages, and make sure that sensor_msgs_py has the correct CONTRIBUTING.md file (it already had the correct LICENSE file).Contributors: Chris Lalancettecomposition[composition] add launch action console output in the verify section (#677) (#681) (cherry picked from commit 34d29db73e78a84a174ad8699a2d646b0eeb1cdf) Co-authored-by: Mikael


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Co-authored-by: Mikael Arguedas <mikael.arguedas@gmail.com>Update maintainer list in package.xml files (#665)Migrate std::bind calls to lambda expressions (#659)Contributors: Felipe Gomes de Melo, Michael Jeronimo, mergify[bot]demo_nodes_cpp[demo_nodes_cpp] some readme and executable name fixups (#678) (#688) (cherry picked from commit aa8df8904b864d063e31fd5b953ffe561c7a9fe0) Co-authored-by: Mikael Arguedas <mikael.arguedas@gmail.com>Fix gcc warnings when building with optimizations. (#672) (#673) * Fix gcc warnings when building with optimizations. When building the allocator_tutorial_pmr demo with -O2, gcc is throwing an error saying that new and delete are mismatched.  This is something of a misnomer, however; the real problem is that the global new override we have in that demo is actually implemented incorrectly. In particular, the documentation athttps://en.cppreference.com/w/cpp/memory/new/operator_newvery clearly specifies that operator new either has to return a valid pointer, or throw an


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operator new either has to return a valid pointer, or throw an exception on error. Our version wasn’t throwing the exception, so change it to throw std::bad_alloc if std::malloc fails. While we are in here, also fix another small possible is where std::malloc could return nullptr on a zero-sized object, thus throwing an exception it shouldn’t. * Always inline the new and delete operators. That’s because gcc 13 has a bug where it can sometimes inline one or the other, and then it detects that they mismatch.  For gcc and clang, just force them to always be inline in this demo. * Switch to NOINLINE instead. Both clang and MSVC don’t like inlining these, so instead ensure that they arenotinlined.  This also works because the problem is when new is inlined but not delete (or vice-versa).  As long as they are both not inlined, this should fix the warning. (cherry picked from commit 957ddbb9f04f55cabd8496e8d74eb35ee4d29105) Co-authored-by: Chris Lalancette <clalancette@gmail.com>A few uncrustify fixes for 0.78.


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<clalancette@gmail.com>A few uncrustify fixes for 0.78. (#667)Allow users to configure the executor for executables indemo_nodes_cpp(#666)Update maintainer list in package.xml files (#665)Added extra documentation and clarifications. (#651)Add in support for both the PMR and custom allocator tutorials. (#655)Replacing old-style C++ allocator with a polymorphic memory resource (PMR) (#653)Remove unnecessary captures in the various demos. (#647)Dramatically speed up the demo_nodes_cpp tests (#641)Switch to using RCLCPP logging macros in the lifecycle package. (#644)failed to call introspection_client (#643)Small cleanups to the demos when running through them. (#639)Cleanup demo_nodes_cpp CMake and dependencies (#638)Change the service introspection parameter off value to ‘disabled’ (#634)Add demos for using logger service (#611)Contributors: Ali Ashkani Nia, Barry Xu, Chen Lihui, Chris Lalancette, Michael Jeronimo, Yadu, jrutgeer, mergify[bot]demo_nodes_cpp_nativeUpdate maintainer list in package.xml files


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maintainer list in package.xml files (#665)Contributors: Michael Jeronimodemo_nodes_pyUpdate maintainer list in package.xml files (#665)Change the service introspection parameter off value to ‘disabled’ (#634) With this we can avoid the tricky bits around YAML interpretation of ‘off’ as a boolean.Add demos for using logger service (#611)Contributors: Barry Xu, Chris Lalancette, Michael Jeronimodiagnostic_msgsClarify the license. (#241) In particular, every package in this repository is Apache 2.0 licensed except for sensor_msgs_py.  So move the CONTRIBUTING.md and LICENSE files down into the individual packages, and make sure that sensor_msgs_py has the correct CONTRIBUTING.md file (it already had the correct LICENSE file).Contributors: Chris Lalancettedummy_map_serverUpdate maintainer list in package.xml files (#665)Contributors: Michael Jeronimodummy_robot_bringupUpdate maintainer list in package.xml files (#665)Switch to file-content launch substitution (#627)Contributors: Michael Jeronimo, Scott K


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substitution (#627)Contributors: Michael Jeronimo, Scott K Logandummy_sensorsUpdate dummy_sensors readme to echo the correct topic (#675) (#684) (cherry picked from commit eec5c12ea95dfaaa230f9f1a8e9cff9b09dde5d5) Co-authored-by: jmackay2 <1.732mackay@gmail.com>Update maintainer list in package.xml files (#665)Fix unstable LaserScan status for rviz2 (#614)Contributors: Chen Lihui, Michael Jeronimo, mergify[bot]example_interfacesUpdate to C++17. (#18)Contributors: Chris Lalancetteexamples_rclcpp_minimal_subscriberfix: Fixed compilation after API change of TimerBase::execute (#375) Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com>Split lambda and subscriber def in minimal example (#363)Contributors: Felipe Gomes de Melo, jmachowinskiexamples_rclcpp_wait_setfix: Fixed compilation after API change of TimerBase::execute (#375) Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com>Contributors: jmachowinskifoonathan_memory_vendorImprove mechanism to find an installation of


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mechanism to find an installation of foonathan_memory (#67)Added support for QNX 7.1 build (#65)geometry_msgsRemove references to index.ros.org. (#244)Create new messages with all fields needed to define a velocity and transform it  (#240) Co-authored-by: Dr. Denis <denis@stoglrobotics.de> Co-authored-by: Addisu Z. Taddese <addisuzt@intrinsic.ai> Co-authored-by: Tully Foote <tullyfoote@intrinsic.ai>Clarify the license. (#241) In particular, every package in this repository is Apache 2.0 licensed except for sensor_msgs_py.  So move the CONTRIBUTING.md and LICENSE files down into the individual packages, and make sure that sensor_msgs_py has the correct CONTRIBUTING.md file (it already had the correct LICENSE file).adding IDs to geometry_msgs/Polygon, PolygonStamped (#232)Contributors: Alejandro Hernández Cordero, Chris Lalancette, Steve Macenskigoogle_benchmark_vendorUpdate to 1.8.3. (#29)Contributors: Marco A. Gutierrezgz_cmake_vendorUpdate vendored version to 3.5.3Use an alias target for root libraryAdd


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version to 3.5.3Use an alias target for root libraryAdd support for the<pkg>::<pkg>and<pkg>::alltargets, fix sourcing of dsv filesUpdate vendored version to 3.5.2Update vendored package versionPatch the pkg-config directory in the gz-cmake code. (#4) * Patch the pkg-config directory in the gz-cmake code. When building on the ROS 2 buildfarm, we aren’t setting some of the CMAKE_PREFIX variables.  This means that using CMAKE_INSTALL_FULL_LIBDIR actually creates a path like /opt/ros/rolling/… , which makes debuild upset. However, we actually need the FULL_LIBDIR in order to calculate the relative path between it and the INSTALL_PREFIX. Work around this by having two variables; the pkgconfig_install_dir (relative), used to install the files, and pkgconfig_abs_install_dir (absolute), used to calculate the relative path between them. This should fix the build on the buildfarm.  I’ll note that we are doing it here and not in gz-cmake proper because of knock-on effects to downstream gazebo.  If this is successful we


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effects to downstream gazebo.  If this is successful we may end up merging it there, at which point we can drop this patch. * Update GzPackage as well. ———Require calling find_package on the underlying package (#3) This also changes the version of the vendor package to 0.0.1 and adds the version of the vendored package in the descriptionFix linter (#2)Use<depend>on upstream package so that dependency is exportedUpdate maintainerAdd package.xml and CMakeLists (#1)Initial importContributors: Addisu Z. Taddese, Chris Lalancettegz_math_vendorUse an alias target for root libraryAdd support for the<pkg>::<pkg>and<pkg>::alltargets, fix sourcing of dsv filesDisable SWIG to fix CMake warningDisable pybind11 for nowRequire calling find_package on the underlying package (#2)Fix linter (#1)Remove NateUpdate maintainersInitial importContributors: Addisu Z. Taddesegz_utils_vendorUse an alias target for root libraryAdd support for the<pkg>::<pkg>and<pkg>::alltargets, fix sourcing of dsv filesRequire calling find_package


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fix sourcing of dsv filesRequire calling find_package on the underlying package (#2)Fix linter (#1)Initial importContributors: Addisu Z. Taddeseimage_toolsA few uncrustify fixes for 0.78. (#667)Update maintainer list in package.xml files (#665)Migrate std::bind calls to lambda expressions (#659)Contributors: Chris Lalancette, Felipe Gomes de Melo, Michael Jeronimoimage_transportAdded rclcpp component to Republish (#275)Add QoS option reliability to republisher qos params (#296)implement CameraSubscriber::getNumPublishers (#297)Add missing definition for CameraPublisher::publish overload (#278)Advertize and subscribe with custom qos (#288)Removed C headers (#289)Switch to using the override keyword for simple_publisher_plugin. (#285)feat: enable plugin allowlist (#264)Expose option to set callback groups (#274)add support for lazy subscribers (#272)Contributors: Aditya Pande, Alejandro Hernández Cordero, Carlos Andrés Álvarez Restrepo, Chris Lalancette, Daisuke Nishimatsu, Michael Ferguson,


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Chris Lalancette, Daisuke Nishimatsu, Michael Ferguson, s-hallinteractive_markersShorten the length of a lambda. (#106)Fixed C++20 warning that ‘++’ expression of ‘volatile’-qualified type is deprecated (#102)Cleanup of interactive markers (#101)Contributors: AiVerisimilitude, Chris Lalancetteintra_process_demoUpdate maintainer list in package.xml files (#665)Migrate std::bind calls to lambda expressions (#659)Fix executable name in README (#618)Contributors: Felipe Gomes de Melo, Michael Jeronimo, Yadunundkdl_parserUpdate to C++17. (#82)Contributors: Chris Lalancettekeyboard_handlerShorten lambdas so newer uncrustify is happier. (#42)Fixed C++20 warning implicit capture of this in lambda (#41)Update to C++17. (#37)Contributors: AiVerisimilitude, Chris Lalancettelaser_geometrySwitch to target_link_libraries. (#92)Contributors: Chris Lalancettelaunch(launch) fix describe of PathJoinSubstitution (#771)Small fixes for modern flake8. (#772)Cleanup some type annotations.Rework task exceptions loop.


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some type annotations.Rework task exceptions loop. (#755)add format overriding by environment variables (#722)Add exception type to error output (#753)Let XML executables/nodes be “required” (like in ROS 1) (#751)Add conditional substitution (#734)Add maximum times for a process to respawn (#696)Add in a timeout for launch pytests. (#725)Fix remaining occurrences of “There is no current event loop” (#723)Update the launch code for newer flake8 and mypy. (#719)Remove the deprecated some_actions_type.py (#718)Improve launch file parsing error messages (#626)Add file-content launch substitution (#708)Contributors: Chris Lalancette, David Yackzan, Marc Bestmann, Matthew Elwin, Matthijs van der Burgh, Nick Lamprianidis, Santti4go, Scott K Logan, Timon Engelkelaunch_pytestSwitch tryfirst/trylast to hookimpl.Contributors: Chris Lalancettelaunch_rosFix: typing. Iterable doesn’t have __getitem__ (#393)Cleanup some type annotations. (#392)Create py.typed to mark this library as typed (#379)Remove create_future


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to mark this library as typed (#379)Remove create_future implementation. (#372)cache lookup of importlib metadata in Node action (#365)Get rid of unnecessary checks in composable_node_container. (#364)Contributors: Chris Lalancette, Jonas Otto, Matthijs van der Burgh, William Woodalllaunch_testingFix a warning in modern unittest. (#773) Newer versions of unittest no longer store an errors list; instead, they store a result, which then stores an error list.  Update the code here to be able to deal with either version.Add consider_namespace_packages=False (#766)to open expected outpout file with an encoding parameter (#717)Contributors: Chen Lihui, Chris Lalancette, Tony Najjarlaunch_testing_examplesCleanup the launch_testing_examples. (#374)Refactor WaitForNodes class. (#373)Contributors: Chris Lalancettelaunch_testing_rosMake launch_testing_ros examples more robust. (#394)added type hinting to launch_testing_ros/test/examples (#386)Handle spin() ExternalShutdownException. (#378)Increase the timeout in


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spin() ExternalShutdownException. (#378)Increase the timeout in wait_for_topic_launch_test. (#377)WaitForTopics: get content of messages for each topic (#353)Contributors: Chris Lalancette, Giorgio Pintaudi, Yaswanthlaunch_xmllaunch_xml: fix xml syntax in README (#770)Let XML executables/nodes be “required” (like in ROS 1) (#751) * Let XML nodes be “required” Essentially on_exit=”shutdown” is equivalent to ROS 1 required=”true”. This feature is implemented using the python launchfile on_exit mechanism. Right now “shutdown” is the only action accepted by on_exit, but theoretically more “on_exit” actions could be added later. Example: <executable cmd=”ls” on_exit=”shutdown”/> * Added tests for yamlImprove launch file parsing error messages (#626)Contributors: Matthew Elwin, Steve Peters, Timon Engelkelaunch_yamlFix flake8 warnings in launch_yaml. (#756)Let XML executables/nodes be “required” (like in ROS 1) (#751) * Let XML nodes be “required” Essentially on_exit=”shutdown” is equivalent to ROS 1


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Essentially on_exit=”shutdown” is equivalent to ROS 1 required=”true”. This feature is implemented using the python launchfile on_exit mechanism. Right now “shutdown” is the only action accepted by on_exit, but theoretically more “on_exit” actions could be added later. Example: <executable cmd=”ls” on_exit=”shutdown”/> * Added tests for yamlImprove launch file parsing error messages (#626)Contributors: Chris Lalancette, Matthew Elwin, Timon Engelkelibcurl_vendorAdd “lib” to the Windows curl search path. (#96) (#97) In CMake 3.3, a commit made it so that the find_package module in CMake had a compatibility mode where it would automatically search for packages in a <prefix>/lib subdirectory. In CMake 3.6, this compatibility mode was reverted for all platformsexceptWindows. That means that since CMake 3.3, we haven’t actually been using the path as specified incurl_DIR, but we have instead been inadvertently relying on that fallback behavior. In CMake 3.28, that compatibilty mode was also removed for Windows,


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3.28, that compatibilty mode was also removed for Windows, meaning that we are now failing to find_package(curl) in downstream packages (like resource_retriever). Fix this by adding in the “lib” directory that always should have been there.  I’ll note that thisonlyaffects our Windows builds, because this code is in a if(WIN32) block. (cherry picked from commit 1839d583190eb9dcf339eaaf6bebe632d94664a6) Co-authored-by: Chris Lalancette <clalancette@gmail.com>Switch to ament_cmake_vendor_package (#86)Contributors: Scott K Logan, mergify[bot]liblz4_vendorMake sure to build_export_depend liblz4-dev. (#1614)Switch to using ament_vendor_package for lz4. (#1583)Contributors: Chris Lalancettelibstatistics_collectorBump pascalgn/automerge-action from 0.16.2 to 0.16.3Bump codecov/codecov-action from 4.1.1 to 4.2.0Fixes for newer uncrustify. (#186)Bump actions/upload-artifact from 3 to 4Switch to using target_link_libraries everywhere. (#174)Bump rolling to 1.6.3 (#173)Bump actions/checkout from 3 to 4 (#169)Add API


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to 1.6.3 (#173)Bump actions/checkout from 3 to 4 (#169)Add API to use message_info instead unserialized message (#170)Bump codecov/codecov-action from 3.1.3 to 3.1.4Bump actions/checkout from 3 to 4 (#169)Add API to use message_info instead unserialized message (#170)Bump codecov/codecov-action from 3.1.3 to 3.1.4Add in missing cstdint include. (#165)Bump codecov/codecov-action from 3.1.2 to 3.1.3Contributors: Chris Lalancette, Lucas Wendland, Michael Orlov, dependabot[bot]libyaml_vendorUpdate quality declaration documents (#62)remove rcpputils and rcutils dependency (#61)Set to C++17. (#59)Switch to ament_cmake_vendor_package (#58)Contributors: Chris Lalancette, Christophe Bedard, Kenta Yonekura, Scott K LoganlifecycleA few uncrustify fixes for 0.78. (#667)Update maintainer list in package.xml files (#665)Migrate std::bind calls to lambda expressions (#659)Switch to using RCLCPP logging macros in the lifecycle package. (#644)Contributors: Chris Lalancette, Felipe Gomes de Melo, Michael


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Chris Lalancette, Felipe Gomes de Melo, Michael Jeronimolifecycle_pyUpdate maintainer list in package.xml files (#665)Contributors: Michael Jeronimologging_demoUpdate maintainer list in package.xml files (#665)Migrate std::bind calls to lambda expressions (#659)Contributors: Felipe Gomes de Melo, Michael JeronimolttngpyReplace all occurences of index.ros.org (#114)Fixes for newer uncrustify (#101)Fix Python not being found for lttngpy in Windows debug mode (#87)Switch to custom lttng-ctl Python bindings (#81)Contributors: Chris Lalancette, Christophe Bedardmap_msgsUpdate maintainer list in package.xml filesUpdate to C++17Contributors: Chris Lalancette, Michael Jeronimo, Steve Macenskimcap_vendorSwitch to using ament_vendor_package for lz4. (#1583)Switch to target_link_libraries everywhere. (#1504)Update mcap to v1.1.0 (#1361)Contributors: Chris Lalancette, Emerson Knappmessage_filtersUpdate TimeSynchronizer usage example. (#115)Remove ‘using’ keyword in message_filters (#106)Remove the use of


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‘using’ keyword in message_filters (#106)Remove the use of ament_target_dependencies. (#105)Fixes pointed out by clang (#104)Mark subscription cb parameter const (#103)Update the HasHeader check to be more specific. (#101)TypeAdapters support (#95) (#96)Cleanup a few minor things in the filters. (#100)Fix python examples (#99)feat: add signal time functions to ExactTime policy (#94)Contributors: Chris Lalancette, Patrick Roncagliolo, Ricardo de Azambuja, Russ, rkeating-plantedmimick_vendorBump vendored mimick version forros2/Mimick#32(#35)Update to the commit that fixes mmk_noreturn. (#34)Update to the commit the fixes exe stack on macOS. (#33)Update to the comment that fixes the executable stack. (#32)Update to take advantage of TARGET_ARCH (#28)Switch to ament_cmake_vendor_package (#31)Contributors: Chris Lalancette, Michael Carroll, Scott K Logannav_msgsRemoved TODO (#243)Clarify the license. (#241) In particular, every package in this repository is Apache 2.0 licensed except for sensor_msgs_py.  So


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is Apache 2.0 licensed except for sensor_msgs_py.  So move the CONTRIBUTING.md and LICENSE files down into the individual packages, and make sure that sensor_msgs_py has the correct CONTRIBUTING.md file (it already had the correct LICENSE file).Contributors: Alejandro Hernández Cordero, Chris Lalancetteorocos_kdl_vendorEnsure that orocos_kdl_vendor doesn’t accidentally find itself. (#27) (#28) When initially building the orocos_kdl_vendor package (on platforms where it actually builds), it turns out that it places a valid cmake configuration in the build directory.  In turn, that means that a subsequent rebuild will find this configuration in the build directory, and throw the rest of the logic off. This only seems to be a problem with CMake 3.29 and later, though I can’t say exactly why at the moment. Workaround this problem by writing the configuration out to a temporary file, and then moving it into the final place with the final name. (cherry picked from commit 7aad6d1ad9fa54f3a48f1f194a85127e362c8ade)


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picked from commit 7aad6d1ad9fa54f3a48f1f194a85127e362c8ade) Co-authored-by: Chris Lalancette <clalancette@gmail.com>Update to the latest orocos_kdl_kinematics commit. (#25)Switch to ament_cmake_vendor_package (#20)Contributors: Chris Lalancette, Scott K Logan, mergify[bot]osrf_pycommonCatch all of the spurious warnings from get_event_loop. (#94)Add bookworm as a python3 target (#91)Suppress warning for specifically handled behavior (#87)Update supported platforms (#93)Add GitHub Actions CI workflow (#88)Contributors: Chris Lalancette, Scott K Logan, Tully Footeosrf_testing_tools_cppUpgrade to Google test 1.14.0 (#84)Contributors: Chris Lalancettependulum_controlUpdate maintainer list in package.xml files (#665)[pendulum_control Install targets to project lib (#624)Contributors: Michael Jeronimo, Yadupendulum_msgsUpdate maintainer list in package.xml files (#665)Contributors: Michael JeronimopluginlibSwitch from rcpputils::fs to std::filesystem (#254)Remove redundant throw of a std::runtime_error


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(#254)Remove redundant throw of a std::runtime_error (#232)Update to C++17 (#251)Fix wShadow compile warning (#250)Contributors: Chris Lalancette, Christophe Bedard, Hunter L. Allen, Steve Macenskipybind11_vendorUpdate to pybind11 2.11.1 (#28)Add Apache 2.0 LICENSE file (#27)Switch to ament_cmake_vendor_package (#24)Contributors: Chris Lalancette, Michael Carroll, Scott K Loganpython_cmake_moduleUse FindPython3 instead of FindPythonInterp (#7)Contributors: Shane Loretzpython_orocos_kdl_vendorUpdate to the latest orocos_kdl_kinematics commit. (#25)Contributors: Chris Lalancettepython_qt_bindingSuppress warning from Shiboken2. (backport#137) (#138) Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>Switch to C++17 for SIP and Shiboken (#135)Set hints to find the python version we actually want. (#134)Remove unnecessary parentheses around assert. (#133)Switch to FindPython3 in the shiboken_helper.cmake. (#132)Cleanup of the


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FindPython3 in the shiboken_helper.cmake. (#132)Cleanup of the sip_configure.py file. (#131)Update the SIP support so we can deal with a broken RHEL-9. (#129)Contributors: Chris Lalancette, Christophe Bedard, mergify[bot]qt_dotgraphHandle empty dotcode nodes. (#290)Small fix for modern flake8. (#289)Contributors: Chris Lalancetteqt_guiRemove unnecessary parentheses for assert. (#286)(qt_gui) extended theme logic to get icons (#279)Contributors: Chris Lalancette, Matthijs van der Burghqt_gui_cppSwitch from rcpputils::fs to std::filesystem (#288)Set hints to find the python version we actually want. (#287)Update to C++17 (#278)fix unload warning (#274)Contributors: Chen Lihui, Chris Lalancette, Christophe Bedardquality_of_service_demo_cppUpdate maintainer list in package.xml files (#665)Explicit time conversion (#657)Cleanup the interactive quality of service demos. (#637)More quality of service demo cleanup (#632)Fix small typos in the incompatible_qos demos. (#629)Contributors: AiVerisimilitude, Chris


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demos. (#629)Contributors: AiVerisimilitude, Chris Lalancette, Michael Jeronimoquality_of_service_demo_pyUpdate maintainer list in package.xml files (#665)More quality of service demo cleanup (#632)Fix small typos in the incompatible_qos demos. (#629)Fix the quality_of_service_demo_py output to look like the C++ one. (#626)Use non-deprecated rclpy import. (#615)Contributors: Chris Lalancette, Michael JeronimorclFix up rmw_cyclonedds timestamp testing. (#1156) (#1157) We are about to fix it so that rmw_cyclonedds has receive_timestamp support, so we also need to enable that support here in rcl.  We actually rewrite the logic a bit because now the only combination that doesn’t work is rmw_connextdds on Windows. (cherry picked from commit 6d53d24a863c3e9e4a41e9fe5f550271210d9d9d) Co-authored-by: Chris Lalancette <clalancette@gmail.com>Fixed warnings - strict-prototypes (#1148) (#1150)chore: Minor style improvements (#1147) Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com>improved rcl_wait in


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Machowinski <J.Machowinski@cellumation.com>improved rcl_wait in the area of timeout computation and spurious wakeups (#1146) Added special handling for timers with a clock that has time override enabled. For these timer we should not compute a timeout, as the waitset is waken up by the associated guard condition. Before this change, the waitset could wait up, because of an expected ready timer, that was acutally not ready, as the time update to the ROS_TIME had not yet arrived.Add tracepoint for publish_serialized_publish (#1136) * Add tracepoint for publish_serialized_publish * Add: tracepoint for rcl_take_serialized_message ———Revert “improved rcl_wait in the area of timeout computation and spurious wakeups (#1135)” (#1142) This reverts commit 3c6c5dc47dac23d70722a60b2c0a387d2e71b71d.improved rcl_wait in the area of timeout computation and spurious wakeups (#1135) * feat: Allow usage of rcl_timer_clock with const rcl_timer_t* * fix: Fixed purious wake-ups on ROS_TIME timers with ROS_TIME enabled Added


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purious wake-ups on ROS_TIME timers with ROS_TIME enabled Added special handling for timers with a clock that has time override enabled. For theses timer we should not compute a timeout, as the waitset is waken up by the associated guard condition. Before this change, the waitset could wait up, because of an expected ready timer, that was acutally not ready, as the time update to the ROS_TIME had not yet arrived. * feat: Added rcl_timer_get_next_call_time * fix(rcl_wait): Improved timeout computation in case of many timers This commit changes the computation of the timer timeout, to be more precise, in the case, of many registered timers. ——— Co-authored-by: Janosch Machowinski <j.machowinski@nospam.org>Generate version header using ament_generate_version_header(..) (#1141)Add rcl_timer_call_with_info function that retrieves the expected and the actual timer trigger times (#1113) Co-authored-by: Alexis Tsogias <a.tsogias@cellumation.com> Co-authored-by: Michael Carroll <carroll.michael@gmail.com>


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Co-authored-by: Michael Carroll <carroll.michael@gmail.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>document out parameters for rcl_get_node_names and rcl_get_node_names_with_enclaves (#1137) * document out params for rcl_get_node_names Co-authored-by: Chris Lalancette <clalancette@gmail.com>Cleanups for uncrustify 0.78. (#1134) Mostly this is expanding macros, as this is just easier to read anyway.  But we also mark one section as INDENT-OFF.Re-order rcl_logging_interface include (#1133)Remove unnecessary macros. (#1132) These really don’t add anything, and allows us to avoid some changes in macro formatting between Ubuntu 22.04 and Ubuntu 24.04.Update quality declaration documents (#1131)add unit tests for –log-file-name argument. (#1130)support--log-file-nameto ros args. (#1127)Make sure to disable a test_node test on RHEL. (#1124)remove static function rcl_ret_from_rcutils_ret(). (#1122)Remove AMENT_DEPENDENCIES from rcl_add_custom_gtest. (#1119)Remove unncecessary dependencies in tests


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(#1119)Remove unncecessary dependencies in tests (#1114)a rosout publisher of a node might not exist (#1115)Set disable loan to on by default. (#1110)Return service from node_type_description_service_init (#1112)next_call_time will always be greater than now after calling rcl_timer_call. (#1089)Add rcl count clients, servicec & tests (#1011)Improve the reliability of test_get_type_description_service. (#1107)Remove most remaining uses of ament_target_dependencies. (#1102)Just remove rcpputils::fs dependency (#1105)Decouple rosout publisher init from node init. (#1065)Cleanup the error handling in rcl_node_init. (#1099)Fix a clang warning for suspicious string concatentation. (#1101)add the link to the topic name rules. (#1100)Cut down the amount of time for test_logging_rosout. (#1098)Simplify local_namespace handling in rcl_node_init. (#1097)Reduce the number of tests we run (#1096)Adding duplicate node information (#1088)Revamp the test_get_type_description_service. (#1095)Cleanup network flow endpoints


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(#1095)Cleanup network flow endpoints test. (#1094)Reduce the failure timeout time for namespaces. (#1093)Shorten wait time for a subscription not being ready. (#1092)rcl_send_response returns RCL_RET_TIMEOUT. (#1048)Move test_namespace into the correct directory. (#1087)Reset errors in tests to reduce warnings (#1085)Cleanup error reporting in the type hash code. (#1084)Instrument loaned message publication code path (#1083)Add~/get_type_descriptionservice (rep2011) (#1052)Modifies timers API to select autostart state (#1004)test publisher/subscription with the c/cpp typesupport for test_msgs::msg::array (#1074)validation result should be used to print the error message. (#1077)improve error msg ofrcl_expand_topic_name(#1076)Use TRACETOOLS_ prefix for tracepoint-related macros (#1058)fix comment (#1073)localhost_only prevails auto discovery options if enabled. (#1069)Avoid dynamic allocation of message before sending over rosout (#1067)clarifyrcl_node_initreturn code (#1066)Fix a format-security warning


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code (#1066)Fix a format-security warning when building with clang. (#1064)Contributors: Chen Lihui, Chris Lalancette, Christophe Bedard, Christopher Wecht, Eloy Briceno, Eric W, Felix Penzlin, G.A. vd. Hoorn, Hans-Joachim Krauch, Kenta Yonekura, Lee, Lucas Wendland, Michael Carroll, Minju, Thiemo Kohrt, Tomoya Fujita, h-suzuki-isp, jmachowinski, mergify[bot]rcl_actionGenerate version header using ament_generate_version_header(..) (#1141)add RCL_RET_TIMEOUT to action service response. (#1138) * add RCL_RET_TIMEOUT to action service response. * address review comment. ———Update quality declaration documents (#1131)Remove most remaining uses of ament_target_dependencies. (#1102)Add~/get_type_descriptionservice (rep2011) (#1052)Modifies timers API to select autostart state (#1004)Contributors: Chris Lalancette, Christophe Bedard, Eloy Briceno, G.A. vd. Hoorn, Hans-Joachim Krauch, Tomoya Fujitarcl_interfacesUpdate the Log.msg constant types. (#161)Update the comments for SetParametersResult to reflect reality.


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the comments for SetParametersResult to reflect reality. (#159)Contributors: Chris Lalancettercl_lifecycleFixed warnings - strict-prototypes (#1148) (#1150)Generate version header using ament_generate_version_header(..) (#1141)Update quality declaration documents (#1131)Remove most remaining uses of ament_target_dependencies. (#1102)Use TRACETOOLS_ prefix for tracepoint-related macros (#1058)Contributors: Chris Lalancette, Christophe Bedard, G.A. vd. Hoorn, mergify[bot]rcl_logging_interfaceCheck allocator validity in some rcl_logging functions (#116) If the allocator is zero-initialized, it may cause a segfault when it is used later in the functions.Use (void) in declaration of param-less function (#114)add file_name_prefix parameter to external log configuration. (#109)Migrate to std::filesystem (#104)Remove the last uses of ament_target_dependencies in this repo. (#102)Contributors: Chris Lalancette, Christophe Bedard, Kenta Yonekura, Scott K Logan, Tomoya Fujitarcl_logging_noopadd file_name_prefix


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K Logan, Tomoya Fujitarcl_logging_noopadd file_name_prefix parameter to external log configuration. (#109)Remove the last uses of ament_target_dependencies in this repo. (#102)Contributors: Chris Lalancette, Tomoya Fujitarcl_logging_spdlogCheck allocator validity in some rcl_logging functions (#116) If the allocator is zero-initialized, it may cause a segfault when it is used later in the functions.Cleanup the tests. (#115) * Cleanup the tests. There are a few different fixes in here: 1.  Move away from using “popen” to get the list of files in a directory.  Instead, switch to using the C++ std::filesystem directory iterator and doing the work ourselves, which is portable and much less error-prone. 2.  Set the ROS_LOG_DIR for all of the tests in here.  This should make the test resistant to being run in parallel with other tests. 3.  Consistently use rcpputils::set_env_var, rather than a mix of rcpputils and rcutils.Update quality declaration document (#112)Re-order rcl_logging_interface include (#111)add


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document (#112)Re-order rcl_logging_interface include (#111)add file_name_prefix parameter to external log configuration. (#109)Migrate to std::filesystem (#104)Remove the last uses of ament_target_dependencies in this repo. (#102)Contributors: Chris Lalancette, Christophe Bedard, Kenta Yonekura, Scott K Logan, Tomoya Fujitarcl_yaml_param_parserGenerate version header using ament_generate_version_header(..) (#1141)Update quality declaration documents (#1131)Fix for incorrect integer value conversion on Windows (#1126)Just remove rcpputils::fs dependency (#1105)Contributors: Christophe Bedard, G.A. vd. Hoorn, Kenta Yonekura, Michael Orlovrclcppadd impl pointer for ExecutorOptions (#2523) (#2525) * add impl pointer for ExecutorOptions (cherry picked from commit 343b29b617b163ad72b9fe3f6441dd4ed3d3af09) Co-authored-by: William Woodall <william@osrfoundation.org>Fixup Executor::spin_all() regression fix (#2517) (#2521) * test(Executors): Added tests for busy waiting Checks if executors are busy waiting while


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for busy waiting Checks if executors are busy waiting while they should block in spin_some or spin_all. * fix: Reworked spinAll test This test was strange. It looked like, it assumed that spin_all did not return instantly. Also it was racy, as the thread could terminate instantly. * fix(Executor): Fixed spin_all not returning instantly is no work was available * Update rclcpp/test/rclcpp/executors/test_executors.cpp * test(executors): Added test for busy waiting while calling spin * fix(executor): Reset wait_result on every call to spin_some_impl Before, the method would not recollect available work in case of spin_some, spin_all. This would lead to the method behaving differently than to what the documentation states. * restore previous test logic for now * refactor spin_some_impl’s logic and improve busy wait tests * added some more comments about the implementation ——— Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com> Co-authored-by: jmachowinski <jmachowinski@users.noreply.github.com>


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jmachowinski <jmachowinski@users.noreply.github.com> Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: William Woodall <william@osrfoundation.org>Revise the description of service configure_introspection() (#2511) (#2513)Remove references to index.ros.org. (#2504)Reduce overhead for inheriting from rclcpp::Executor when base functionality is not reused (#2506)[wjwwood] Updated “Data race fixes” (#2500) * Fix callback group logic in executor * fix: Fixed unnecessary copy of wait_set * fix(executor): Fixed race conditions with rebuild of wait_sets Before this change, the rebuild of wait set would be triggered after the wait set was waken up. With bad timing, this could lead to the rebuild not happening with multi threaded executor. * fix(Executor): Fixed lost of entities rebuild request * chore: Added assert for not set callback_group in execute_any_executable * Add test for cbg getting reset Co-authored-by: Janosch Machowinski <j.machowinski@nospam.org> * chore: renamed test cases to


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<j.machowinski@nospam.org> * chore: renamed test cases to snake_case * style * fixup test to avoid polling and short timeouts * fix: Use correct notify_waitable_ instance * fix(StaticSingleThreadedExecutor): Added missing special case handling for current_notify_waitable_ * fix(TestCallbackGroup): Fixed test after change to timers ——— Co-authored-by: Janosch Machowinski <j.machowinski@cellumation.com> Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai> Co-authored-by: Janosch Machowinski <j.machowinski@nospam.org>fixup var names to snake case (#2501)Added optional TimerInfo to timer callback (#2343) Co-authored-by: Alexis Tsogias <a.tsogias@cellumation.com> Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com>Fix uninitialized memory in test (#2498) When I added in the tests for large messages, I made a mistake and reserved space in the strings, but didn’t actually expand it.  Thus, we were writing into uninitialized memory.  Fix this by just using the correct constructor for string, which


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this by just using the correct constructor for string, which will allocate and initialize the memory properly.Ensure waitables handle guard condition retriggering (#2483) Co-authored-by: Michael Carroll <mjcarroll@intrinsic.ai>fix: init concatenated_vector with begin() & end() (#2492) * this commit will fix the warning [-Wstringop-overflow=]#2461Use the same context for the specified node in rclcpp::spin functions (#2433) * Use the same conext for the specified node in rclcpp::spin_xx functions * Add test for spinning with non-default-context * Format code ———Disable compare-function-pointers in test_utilities (#2489)address ambiguous auto variable. (#2481)Increase the cppcheck timeout to 1200 seconds (#2484)Removed test_timers_manager clang warning (#2479)Flaky timer test fix (#2469) * fix(time_source): Fixed possible race condition * fix(test_executors_time_cancel_behaviour): Fixed multiple race conditions ——— Co-authored-by: Janosch Machowinski <j.machowinski@nospam.org>Add tracepoint for generic


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<j.machowinski@nospam.org>Add tracepoint for generic publisher/subscriber (#2448)update rclcpp::Waitable API to use references and const (#2467)Utilize rclcpp::WaitSet as part of the executors (#2142) * Deprecate callback_group call taking context * Add base executor objects that can be used by implementors * Template common operations * Address reviewer feedback: * Add callback to EntitiesCollector constructor * Make function to check automatically added callback groups take a list * Lint * Address reviewer feedback and fix templates * Lint and docs * Make executor own the notify waitable * Add pending queue to collector, remove from waitable Also change node’s get_guard_condition to return shared_ptr * Change interrupt guard condition to shared_ptr Check if guard condition is valid before adding it to the waitable * Lint and docs * Utilize rclcpp::WaitSet as part of the executors * Don’t exchange atomic twice * Fix add_node and add more tests * Make get_notify_guard_condition follow API tick-tock * Improve


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Make get_notify_guard_condition follow API tick-tock * Improve callback group tick-tocking * Don’t lock twice * Address reviewer feedback * Add thread safety annotations and make locks consistent * @wip * Reset callback groups for multithreaded executor * Avoid many small function calls when building executables * Re-trigger guard condition if buffer has data * Address reviewer feedback * Trace points * Remove tracepoints * Reducing diff * Reduce diff * Uncrustify * Restore tests * Back to weak_ptr and reduce test time * reduce diff and lint * Restore static single threaded tests that weren’t working before * Restore more tests * Fix multithreaded test * Fix assert * Fix constructor test * Change ready_executables signature back * Don’t enforce removing callback groups before nodes * Remove the “add_valid_node” API * Only notify if the trigger condition is valid * Only trigger if valid and needed * Fix spin_some/spin_all implementation * Restore single threaded executor * Picking ABI-incompatible executor


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single threaded executor * Picking ABI-incompatible executor changes * Add PIMPL * Additional waitset prune * Fix bad merge * Expand test timeout * Introduce method to clear expired entities from a collection * Make sure to call remove_expired_entities(). * Prune queued work when callback group is removed * Prune subscriptions from dynamic storage * Styles fixes. * Re-trigger guard conditions * Condense to just use watiable.take_data * Lint * Address reviewer comments (nits) * Lock mutex when copying * Refactors to static single threaded based on reviewers * More small refactoring * Lint * Lint * Add ready executable accessors to WaitResult * Make use of accessors from wait_set * Fix tests * Fix more tests * Tidy up single threaded executor implementation * Don’t null out timer, rely on call * change how timers are checked from wait result in executors * peak -> peek * fix bug in next_waitable logic * fix bug in StaticSTE that broke the add callback groups to executor tests * style ——— Co-authored-by: Chris


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groups to executor tests * style ——— Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: William Woodall <william@osrfoundation.org>fix flakiness in TestTimersManager unit-test (#2468) the previous version of the test was relying on the assumption that a timer with 1ms period gets called at least 6 times if the main thread waits 15ms. this is true most of the times, but it’s not guaranteed, especially when running the test on windows CI servers. the new version of the test makes no assumptions on how much time it takes for the timers manager to invoke the timers, but rather focuses on ensuring that they are called the right amount of times, which is what’s important for the purpose of the testfix spin_some_max_duration unit-test for events-executor (#2465)refactor and improve the parameterized spin_some tests for executors (#2460) * refactor and improve the spin_some parameterized tests for executors * disable spin_some_max_duration for the StaticSingleThreadedExecutor and EventsExecutor


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for the StaticSingleThreadedExecutor and EventsExecutor * fixup and clarify the docstring for Executor::spin_some() * style * review comments ———enable simulation clock for timer canceling test. (#2458) * enable simulation clock for timer canceling test. * move MainExecutorTypes to test_executors_timer_cancel_behavior.cpp. ———Revert “relax the test simulation rate for timer canceling tests. (#2453)” (#2456) This reverts commit 1c350d0d7fb9c7158e0a39057112486ddbd38e9a.relax the test simulation rate for timer canceling tests. (#2453)Fix TypeAdapted publishing with large messages. (#2443) Mostly by ensuring we aren’t attempting to store large messages on the stack.  Also add in tests. I verified that before these changes, the tests failed, while after them they succeed.Implement generic client (#2358) * Implement generic client * Fix the incorrect parameter declaration * Deleted copy constructor and assignment for FutureAndRequestId * Update codes after rebase * Address review comments * Address review comments


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rebase * Address review comments * Address review comments from iuhilnehc-ynos * Correct an error in a description * Fix window build errors * Address review comments from William * Add doc strings to create_generic_client ———Rule of five: implement move operators (#2425)Various cleanups to deal with uncrustify 0.78. (#2439) These should also work with uncrustify 0.72.Remove the set_deprecated signatures in any_subscription_callback. (#2431) These have been deprecated since April 2021, so it is safe to remove them now.fix doxygen syntax for NodeInterfaces (#2428)Set hints to find the python version we actually want. (#2426) The comment in the commit explains the reasoning behind it.Update quality declaration documents (#2427)feat: add/minus for msg::Time and rclcpp::Duration (#2419) * feat: add/minus for msg::Time and rclcpp::DurationSplit test_executors up into smaller chunks. (#2421)[events executor] - Fix Behavior with Timer Cancel (#2375)Removed deprecated header (#2413)Make sure to mark RingBuffer


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deprecated header (#2413)Make sure to mark RingBuffer methods as ‘override’. (#2410)Increase the cppcheck timeout to 600 seconds. (#2409)Add transient local durability support to publisher and subscriptions when using intra-process communication (#2303)Stop storing the context in the guard condition. (#2400)Updated GenericSubscription to AnySubscriptionCallback (#1928)make type support helper supported for service (#2209)Adding QoS to subscription options (#2323)Switch to target_link_libraries. (#2374)aligh with rcl that a rosout publisher of a node might not exist (#2357)Fix data race in EventHandlerBase (#2349)Support users holding onto shared pointers in the message memory pool (#2336)fix (signal_handler.hpp): spelling (#2356)Updates to not use std::move in some places. (#2353)rclcpp::Time::max() clock type support. (#2352)Serialized Messages with Topic Statistics (#2274)Add a custom deleter when constructing rcl_service_t (#2351)Disable the loaned messages inside the executor. (#2335)Use message_info in


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loaned messages inside the executor. (#2335)Use message_info in SubscriptionTopicStatistics instead of typed message (#2337)Add missing ‘enable_rosout’ comments (#2345)Adjust rclcpp usage of type description service (#2344)address rate related flaky tests. (#2329)Fixes pointed out by the clang analyzer. (#2339)Remove useless ROSRate class (#2326)add clients & services count (#2072)remove invalid sized allocation test for SerializedMessage. (#2330)Adding API to copy all parameters from one node to another (#2304)Add locking to protect the TimeSource::NodeState::node_base_ (#2320)Update SignalHandler get_global_signal_handler to avoid complex types in static memory (#2316)Removing Old Connext Tests (#2313)Documentation for list_parameters  (#2315)Decouple rosout publisher init from node init. (#2174)fix the depth to relative in list_parameters (#2300)Fix the return type of Rate::period. (#2301)Update API docs links in package READMEs (#2302)Cleanup flaky timers_manager tests. (#2299)Topic correct typeadapter


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flaky timers_manager tests. (#2299)Topic correct typeadapter deduction (#2294)Fix C++20 allocator construct deprecation (#2292)Make Rate to select the clock to work with (#2123)Correct the position of a comment. (#2290)Remove unnecessary lambda captures in the tests. (#2289)Add rcl_logging_interface as an explicit dependency. (#2284)Revamp list_parameters to be more efficient and easier to read. (#2282)Do not crash Executor when send_response fails due to client failure. (#2276)Adding Custom Unknown Type Error (#2272)Add a pimpl inside rclcpp::Node for future distro backports (#2228)Remove an unused variable from the events executor tests. (#2270)Add spin_all shortcut (#2246)Adding Missing Group Exceptions (#2256)Change associated clocks storage to unordered_set (#2257)associated clocks should be protected by mutex. (#2255)Instrument loaned message publication code path (#2240)Implement get_node_type_descriptions_interface for lifecyclenode and add smoke test for it (#2237)Add new node interface


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and add smoke test for it (#2237)Add new node interface TypeDescriptionsInterface to provide GetTypeDescription service (#2224)Move always_false_v to detail namespace (#2232)Revamp the test_subscription.cpp tests. (#2227)warning: comparison of integer expressions of different signedness (#2219)Modifies timers API to select autostart state (#2005)Enable callback group tests for connextdds (#2182)Fix up misspellings of “receive”. (#2208)Remove flaky stressAddRemoveNode test (#2206)Use TRACETOOLS_ prefix for tracepoint-related macros (#2162)remove nolint since ament_cpplint updated for the c++17 header (#2198)Feature/available capacity of ipm (#2173)add mutex to protect events_executor current entity collection (#2187)Declare rclcpp callbacks before the rcl entities (#2024)Fix race condition in events-executor (#2177)Add missing stdexcept include (#2186)Fix a format-security warning when building with clang (#2171)Fix delivered message kind (#2175)Contributors: AiVerisimilitude, Alberto Soragna, Alejandro


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AiVerisimilitude, Alberto Soragna, Alejandro Hernández Cordero, Alexey Merzlyakov, Barry Xu, Chen Lihui, Chris Lalancette, Christophe Bedard, Christopher Wecht, DensoADAS, Eloy Briceno, Emerson Knapp, Homalozoa X, HuaTsai, Jeffery Hsu, Jiaqi Li, Jonas Otto, Kotaro Yoshimoto, Lee, Luca Della Vedova, Lucas Wendland, Matt Condino, Michael Carroll, Michael Orlov, Minju, Nathan Wiebe Neufeldt, Steve Macenski, Tim Clephas, Tomoya Fujita, Tony Najjar, Tully Foote, William Woodall, Zard-C, h-suzuki-isp, jmachowinski, mauropasse, mergify[bot], methylDragon, Øystein Sturerclcpp_actionRemove references to index.ros.org. (#2504)Callback after cancel (#2281) * feat(Client): Added function to stop callbacks of a goal handle This function allows us to drop the handle in a locked context. If we do not do this within a lock, there will be a race condition between the deletion of the shared_ptr of the handle and the result / feedback callbacks. * fix: make Client goal handle recursive This fixes deadlocks due to release of


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goal handle recursive This fixes deadlocks due to release of goal handles in callbacks etc. * fix(ActionGoalClient): Fixed memory leak for nominal case This fixes a memory leak due to a self reference in the ClientGoalHandle. Note, this fix will only work, if the ClientGoalHandle ever receives a result callback. * doc: Updated documentation of rclcpp_action::Client::async_send_goal * docs: Made the async_send_goal documentation more explicit Co-authored-by: Janosch Machowinski <J.Machowinski@cellumation.com>Remake of “fix: Fixed race condition in action server between is_ready and take” (#2495) Some background information: is_ready, take_data and execute data may be called from different threads in any order. The code in the old state expected them to be called in series, without interruption. This lead to multiple race conditions, as the state of the pimpl objects was altered by the three functions in a non thread safe way. Co-authored-by: Janosch Machowinski <j.machowinski@nospam.org>update


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Janosch Machowinski <j.machowinski@nospam.org>update rclcpp::Waitable API to use references and const (#2467)Do not generate the exception when action service response timeout. (#2464) * Do not generate the exception when action service response timeout. * address review comment. ———Modify rclcpp_action::GoalUUID hashing algorithm (#2441) * Add unit tests for hashing rclcpp_action::GoalUUID’s * Use the FNV-1a hash algorithm for Goal UUIDVarious cleanups to deal with uncrustify 0.78. (#2439) These should also work with uncrustify 0.72.Update quality declaration documents (#2427)Switch to target_link_libraries. (#2374)Update API docs links in package READMEs (#2302)fix(ClientGoalHandle): Made mutex recursive to prevent deadlocks (#2267)Correct the position of a comment. (#2290)Fix a typo in a comment. (#2283)doc fix: callcanceledonly after goal state is in canceling. (#2266)Contributors: Chris Lalancette, Christophe Bedard, Jiaqi Li, Tomoya Fujita, William Woodall, jmachowinski,


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Bedard, Jiaqi Li, Tomoya Fujita, William Woodall, jmachowinski, mauropasserclcpp_componentsRemove references to index.ros.org. (#2504)Add EXECUTOR docs (#2440)Update quality declaration documents (#2427)crash on no class found (#2415) * crash on no class found * error on no class found instead of no callback groups Co-authored-by: Chris Lalancette <clalancette@gmail.com>Switch to target_link_libraries. (#2374)feat(rclcpp_components): support events executor in node main template (#2366)fix(rclcpp_components): increase the service queue sizes in component_container (#2363)Add missing header required by the rclcpp::NodeOptions type (#2324)Update API docs links in package READMEs (#2302)Contributors: Adam Aposhian, Chris Lalancette, Christophe Bedard, Daisuke Nishimatsu, Ignacio Vizzo, M. Fatih Cırıt, Ruddick Lawrencerclcpp_lifecycleRevert “call shutdown in LifecycleNode dtor to avoid leaving the device in un… (#2450)” (#2522) (#2524) This reverts commit 04ea0bb00293387791522590b7347a2282cda290. (cherry


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commit 04ea0bb00293387791522590b7347a2282cda290. (cherry picked from commit 42b0b5775b4e68718c5949308c9e1a059930ded7) Co-authored-by: Chris Lalancette <clalancette@gmail.com>Remove references to index.ros.org. (#2504)call shutdown in LifecycleNode dtor to avoid leaving the device in un… (#2450) * call shutdown in LifecycleNode dtor to avoid leaving the device in unknown state. * add test to verify LifecycleNode::shutdown is called on destructor. ———Update quality declaration documents (#2427)Increase timeout for rclcpp_lifecycle to 360 (#2395)Fix rclcpp_lifecycle inclusion on Windows. (#2331)add clients & services count (#2072)Update API docs links in package READMEs (#2302)add logger level service to lifecycle node. (#2277)Stop using constref signature of benchmark DoNotOptimize. (#2238)Implement get_node_type_descriptions_interface for lifecyclenode and add smoke test for it (#2237)Switch lifecycle to use the RCLCPP macros. (#2233)Add new node interface TypeDescriptionsInterface to provide


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new node interface TypeDescriptionsInterface to provide GetTypeDescription service (#2224)Contributors: Chris Lalancette, Christophe Bedard, Emerson Knapp, Jorge Perez, Lee, Minju, Tomoya Fujita, mergify[bot]rclpyClock.py types. (#1244) * Start typing time.py * Testing out Enum wrapper for ClockType * convert to rcl_clock_type_t * Update create_time_point * add types to logging_service * Add types to duration.py * Add newlines for class definintions * update type alias name * Update to use Protocols * Add types to time.py * Add types * Fix import order * Started typing clock.py * Move typealias importpybind11 definition doc typo fixes. (#1270)Fix small flake8 error in rclpy. (#1267) Newer versions of flake8 complain that using ‘str’ as a variable shadows a builtin.  Just make it ‘s’.Allow specifying qos (#1225)update RCL_RET_TIMEOUT error handling with action service response. (#1258)Add types to time_source.py (#1259)Small fixes for modern flake8. (#1264)Add types to qos_overriding_options.py (#1248)Add


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(#1264)Add types to qos_overriding_options.py (#1248)Add types to context.py (#1240)Add back Type hash __slots__ and add test cases. (#1245)Revert “Add types to TypeHash and moved away from __slots__ usage (#1232)” (#1243)Time.py Types (#1237)Add types to TypeHash and moved away from __slots__ usage (#1232)Add Static Typing to Validate files (#1230)Add types to duration.py (#1233)added python3-yaml (#1242)Add types to exceptions.py (#1241)Add types (#1231)Creates Enum wrapper for ClockType and ClockChange (#1235)Add types to expand_topic_name (#1238)Add types to logging_service.py (#1227)Add types to logging.py (#1226)forbid parameter to be declared statically without initialization. (#1216)Remove parentheses from assert statements. (#1213)Add doc-string warnings for destroy methods for services. (#1205)Add doc-string warnings for destroy() methods (#1204)Add an optional timeout_sec input to Client.call() to fix issuehttps://github.com/ros2/rclpy/issues/1181(#1188)aligh with rcl that a rosout publisher of a


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with rcl that a rosout publisher of a node might not exist (#1196)call ok() to see if rclpy and context is initialized. (#1198)Adjust python usage of the type_description service API (#1192)Document that spin_once() should not be called from multiple threads (#1079)making optional things Optional (#1182)Use timeout object to avoid callback losing in wait_for_ready_callbacks (#1165)Fix to issuehttps://github.com/ros2/rclpy/issues/1179(#1180)Add count services, clients & test (#1024)1105 parameter event handler (#1135)unregister_sigterm_signal_handler should be called. (#1170)Handle take failure in wait_for_message (#1172)Decouple rosout publisher init from node init. (#1121)Fix _list_parameters_callback & test (#1161)add list_parameters & test (#1124)Support to get remapped service name (#1156)a couple of typo fixes. (#1158)Fix get_type_description service bug and add a unit test (#1155)Fix an inherent race in execution vs. destruction. (#1150)Cleanup of test_node.py. (#1153)Avoid generating the exception


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of test_node.py. (#1153)Avoid generating the exception when rcl_send_response times out. (#1136)Store time source clocks in a set (#1146)Fix spin_once_until_future_complete to quit when the future finishes. (#1143)get_type_description service (#1139)Add in the ability to start timers paused. (#1138)Modifies ros_timer_init for ros_timer_init2 (#999)Fix/param namespace association 894 (#1132)Include type hash in topic endpoint info (#1104)Fix iteration over modified list (#1129)making optional things Optional (#974)Fix type signature of Client.wait_for_service (#1128)Fix action server crash when the client goes away. (#1114)Turn Executor into a ContextManager (#1118)Turn Context into a ContextManager (#1117)Fix type in Node init args (#1115)Contributors: AndyZe, Anton Kesy, Barry Xu, Brian, Chen Lihui, Chris Lalancette, Eloy Briceno, Emerson Knapp, EsipovPA, Felix Divo, Hans-Joachim Krauch, KKSTB, Lee, Luca Della Vedova, M. Hofstätter, Michael Carlstrom, Michael Carroll, Minju, Russ, SnIcK, Steve Peters, Tim


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Michael Carroll, Minju, Russ, SnIcK, Steve Peters, Tim Clephas, Tomoya Fujita, mhidalgo-bdaircpputilsGenerate version header with ament_generate_version_header function (#190)Update docs for rcpputils::split functions (#188)Included tl_expected (#185)Switch to using target_link_libraries. (#183)Add a missing header due to missing PATH_MAX variable (#181)Add unique_lock implementation with clang thread safety annotations (#180)Add in a missing cstdint. (#178)Contributors: Alejandro Hernández Cordero, Chris Lalancette, Christophe Bedard, Emerson Knapp, Sai Kishor Kothakota, wojciechmadryrcutilsRemoved warnings - strict-prototypes (#461) (#465)Increase timeout repl_str test (#463) (#464)validate the allocator before use. (#455) * validate the allocator before use. * address review comments. - validate allocator only if the function specifically uses. - argument null check comes before validation of value. ———feat: Add human readable date to logging formats (#441)Updates for uncrustify 0.78. (#454)Set hints to


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formats (#441)Updates for uncrustify 0.78. (#454)Set hints to find the python version we actually want. (#451)Bring ament_add_gtest/target_link_libraries back together (#452)Change ‘ROS2’ to ‘ROS 2’ in quality declaration (#453)Allow parsing of escape sequence in log format (#443)Clean up unused references to mimick/mocking in tests (#450)Fix if(TARGET …) condition for test (#447)Zero-initialize rcutils_string_array_t in test_string_array (#446)Use rcutils_string_array_init in rcutils_split & handle alloc fail (#445)Make rcutils_split() return RCUTILS_RET_BAD_ALLOC if alloc fails (#444)Remove two last uses of ament_target_dependencies. (#440)time_win32: Update dead link (#438)memmove for overlaping memory (#434)make escape characters work (#426)Remove unused ‘max’ functions from sha256.c (#429)Contributors: Chen Lihui, Chris Lalancette, Christophe Bedard, Kaju-Bubanja, Marc Bestmann, Silvio Traversaro, Tomoya Fujita, Tyler Weaver, mergify[bot]resource_retrieverUpdate resource retreiver to use rule of five


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resource retreiver to use rule of five (#95)Use default ament_lint_auto (#92)Switch to target_link_libraries. (#89)Update to C++17 (#88)Contributors: Chris Lalancette, Michael CarrollrmwRemoved warnings - strict-prototypes (#365) (#366)Switch to target_link_libraries. (#361)Remove unnecessary c++14 flag. (#360)definition of local means being in the same context. (#359)typo fix. (#355)Contributors: Chris Lalancette, Tomoya Fujita, mergify[bot]rmw_connextddsAdd rmw count clients services impl (#93)Cleanup context implementation (#131)Update to C++17 (#125)Contributors: Chris Lalancette, Lee, Minjurmw_connextdds_commonRevert “Mitigate discovery race condition between clients and services (#132)” (#146) This reverts commit 7c95abbfc4559b293ebf5e94e20250bdd99d3ac6.Mitigate discovery race condition between clients and services (#132) * Mitigate discovery race condition between clients and services.Add: tracepoint for subscribe serialized_message (#145) * Add: tracepoint for take_serialized_message * Fix:


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(#145) * Add: tracepoint for take_serialized_message * Fix: TRACETOOLS_TRACEPOINT args * Update rmw_connextdds_common/src/common/rmw_subscription.cpp Co-authored-by: Christophe Bedard <bedard.christophe@gmail.com>Support Fast CDR v2 (#141)Fix the rmw_connextdds_common build with gcc 13.2. (#142) The most important fix here is to #include <cstdint>, but also make sure we #include for all used STL functions.Fix basic request reply mapping for ConnextDDS Pro (#139)Add ros2_tracing tracepoints (#120)avoid using dds common public mutex directly (#134)Fix a couple of warnings pointed out by clang. (#133)Add rmw count clients services impl (#93)Conditional internal API access to support Connext 7+ (#121)Cleanup context implementation (#131)Fix RMW_Connext_Client::is_service_available for micro (#130)Update to C++17 (#125)Pass parameters in the correct order to DDS_DataReader_read in rmw_connextdds_count_unread_samples for micro (#129)Optimize QoS to improve responsiveness of reliable endpoints (#26)Clear out errors


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responsiveness of reliable endpoints (#26)Clear out errors once we have handled them. (#126)Add support for listener callbacks (#76)Contributors: Andrea Sorbini, Chen Lihui, Chris Lalancette, Christopher Wecht, Lee, Miguel Company, Minju, h-suzuki-isprmw_connextddsmicroAdd rmw count clients services impl (#93)Cleanup context implementation (#131)Update to C++17 (#125)Contributors: Chris Lalancette, Lee, Minjurmw_cyclonedds_cppSet received_timestamp to system_clock::now() in message_info (#491) (#493) * Set received_timestamp to steady_clock::now() in message_info * Use ‘system_clock’ instead of ‘steady_clock’ * Also update receive_timestamp for services. (cherry picked from commit 76c9d8f38a03d160b258902af6d1d06f6ed9391e) Co-authored-by: Michael Orlov <morlovmr@gmail.com>Add tracepoint for publish/subscribe serialized message (#485) Co-authored-by: eboasson <eb@ilities.com>Remove a bunch of unnecessary macros. (#482)compare string contents but string pointer addresses. (#481)Add timestamp to rmw_publish


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string pointer addresses. (#481)Add timestamp to rmw_publish tracepoint (#454)avoid using dds common public mutex directly (#474)Add rmw count clients,services impl (#427)Minor revamp of the CMakeLists.txt. (#468)Clear out errors once we have handled them. (#464)Instrument loaned message publication code pathUse TRACETOOLS_ prefix for tracepoint-related macros (#450)Contributors: Chen Lihui, Chris Lalancette, Christophe Bedard, Christopher Wecht, Lee, Minju, Tomoya Fujita, h-suzuki-isp, mergify[bot]rmw_dds_commonAdd pkcs11 support to get_security_files (#66)make a new private mutex and add updating graph methods (#73)Just remove rcpputils::fs dependency (#72)Contributors: Chen Lihui, Kenta Yonekura, Miguel Companyrmw_fastrtps_cppSupport Fast CDR v2 (#746) * Require fastcdr version 2 * Changes to build rmw_fastrtps_shared_cpp * Changes to build rmw_fastrtps_cpp * Changes to build rmw_fastrtps_dynamic_cppCapturestd::bad_allocon deserializeROSmessage. (#665)Switch to target_link_libraries for linking.


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(#665)Switch to target_link_libraries for linking. (#734)avoid using dds common public mutex directly (#725)Add rmw_count clients,services impl (#641)Improve node graph delivery by using a unique listening port (#711)Use TRACETOOLS_ prefix for tracepoint-related macros (#686)Contributors: Chen Lihui, Chris Lalancette, Christophe Bedard, Lee, Miguel Company, Minjurmw_fastrtps_dynamic_cppSupport Fast CDR v2 (#746) * Require fastcdr version 2 * Changes to build rmw_fastrtps_shared_cpp * Changes to build rmw_fastrtps_cpp * Changes to build rmw_fastrtps_dynamic_cppcompare string contents but string pointer addresses. (#744)Improve wide string (de)serialization in rwm_dynamic_fastrtps_cpp (#740) * Move type support headers to src * Fix references to moved headers * move macros.hpp to src/serialization_helpers.hpp * Move other non-api headers * Move common code into serialize_wide_string. * Move common code into deserialize_wide_string. * Move serialization into serialization_helpers.hpp * Move deserialization


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into serialization_helpers.hpp * Move deserialization into serialization_helpers.hpp * Fix header guards * Linters * Do not account for extra character on serialized size calculation * Remove dependency on rosidl_typesupport_fastrtps_c(pp) ———Capturestd::bad_allocon deserializeROSmessage. (#665)Switch to target_link_libraries for linking. (#734)avoid using dds common public mutex directly (#725)Account for alignment on is_plain calculations. (#716)Add rmw_count clients,services impl (#641)Improve node graph delivery by using a unique listening port (#711)Contributors: Chen Lihui, Chris Lalancette, Lee, Miguel Company, Minju, Tomoya Fujitarmw_fastrtps_shared_cppAllow pkcs11 when calling rmw_dds_common::get_security_files. (#565) Co-authored-by: Miguel Company <MiguelCompany@eprosima.com>Add tracepoint for publish/subscribe serialized_message (#748) * Add: tracepoint for generic pub/sub * Fix: correspond to PR 454 * Fix: change write to write_to_timestamp ———Support Fast CDR v2 (#746) * Require fastcdr


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———Support Fast CDR v2 (#746) * Require fastcdr version 2 * Changes to build rmw_fastrtps_shared_cpp * Changes to build rmw_fastrtps_cpp * Changes to build rmw_fastrtps_dynamic_cppRemove an unnecessary constructor. (#743) We can just use brace initialization here, and this allows us to side-step an uncrustify issue with the constructor.Add timestamp to rmw_publish tracepoint (#694)Switch to Unix line endings. (#736)Switch to target_link_libraries for linking. (#734)Quiet compiler warning in Release mode. (#730)avoid using dds common public mutex directly (#725)Add rmw_count clients,services impl (#641)Switch to using rclcpp::unique_lock. (#712)Use DataWriter Qos to configure max_blocking_time on rmw_send_response (#704)Clear out errors once we have handled them. (#701)Instrument loaned message publication code path (#698)Add in a missing data_reader check when creating subscription. (#697)Use TRACETOOLS_ prefix for tracepoint-related macros (#686)typo fix. (#693)address clang nightly build error. (#689)Check


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fix. (#693)address clang nightly build error. (#689)Check for errors while doing an rmw_discovery_options_copy. (#690)Contributors: Chen Lihui, Chris Lalancette, Christophe Bedard, Christopher Wecht, IkerLuengo, Lee, Miguel Company, Minju, Tomoya Fujita, h-suzuki-isprmw_implementationUpdate quality declaration document (#225) (#226)Switch to using target_link_libraries everywhere. (#222)Add rmw_count_clients,services & test (#208)Contributors: Chris Lalancette, Lee, Minju, mergify[bot]robot_state_publisherFix reload after a description with a mimic joint (#212)Remove ament_target_dependencies. (#209)Improve log messages (#206)Contributors: Chris Lalancette, Guillaume Doisy, Nick Lamprianidisros2actioncall get_action_interfaces() properly. (#898) (#900) (cherry picked from commit 305ef763b83e42ebddc4802ac788869d178b6e93) Co-authored-by: Tomoya Fujita <Tomoya.Fujita@sony.com>supportros2actiontype<actionname>. (#894) * supportros2actiontype<actionname>. * add review comments. ———Load a message/request/goal


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* add review comments. ———Load a message/request/goal from standard input (#844)Contributors: Tomoya Fujita, mergify[bot], ymd-stellaros2bagAdd option to disable recorder keyboard controls (#1607)Support service 2/2 — rosbag2 service play (#1481)Added exclude-topic-types to record (#1582)Overhaul in the rosbag2_transport::TopicFilter class and relevant tests (#1585)Filter topic by type  (#1577)Implement service recording and display info about recorded services (#1480)Add python3-yaml as a dependency (#1490)Fix the description of paramter ‘–topics’ for play (#1426)When using sim time, wait for /clock before beginning recording (#1378)Revert “Don’t record sim-time messages before first /clock (#1354)” (#1377)Don’t record sim-time messages before first /clock (#1354)Fix wrong descritpion for ‘–ignore-leaf-topics’ (#1344)Cleanup the help text for ros2 bag record. (#1329)Contributors: Alejandro Hernández Cordero, Barry Xu, Bernd Pfrommer, Chris Lalancette, Emerson Knapp, Michael Orlov, Michal


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Chris Lalancette, Emerson Knapp, Michael Orlov, Michal Sojkaros2cliros2cli.node.daemon : try getting fdsize from /proc for open fd limit (#888)Fix the SIGTERM handling in the ros2 daemon. (#887)Replace unmaintainednetifaceslibrary to avoid local wheel builds (#875)make handles not inheritable to prevent from blocking durning tab-completion (#852)Add ros2 service info (#771)catch ExternalShutdownException ros2cli main. (#854)Load a message/request/goal from standard input (#844)Fix tests with get_type_description service and param present (#838)Add marshalling functions for rclpy.type_hash.TypeHash (rep2011) (#816)[service introspection] ros2 service echo (#745)Contributors: Brian, Chen Lihui, Chris Lalancette, Emerson Knapp, Hans-Joachim Krauch, Laurenz, Lee, Minju, Tomoya Fujita, akssri-sony, ymd-stellaros2cli_test_interfacesUpdate to C++17 (#848)Contributors: Chris Lalancetteros2componentWarning: get_parameter_value() is deprecated. (#866)Contributors: Tomoya Fujitaros2doctorRemove references


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(#866)Contributors: Tomoya Fujitaros2doctorRemove references tohttps://index.ros.org(#897)(ros2doctor) fix PackageCheck (#860) * (ros2doctor)(package) improve result string generationShutdown ros2doctor hello when ctrl-c is received (#826)Contributors: Chris Lalancette, Matthijs van der Burgh, Michael Carrollros2interfaceAdd interface type filters to ros2 interface package (#765)Contributors: David V. Lu!!ros2paramros2 param dump should handle empty list as exception. (#881)Warning: get_parameter_value() is deprecated. (#866)Fix tests with get_type_description service and param present (#838)Update ros2 param dump dosctring. (#837)Contributors: Emerson Knapp, Murilo M Marinho, Tomoya Fujitaros2pkgUpdate the package template for our new include directories. (#847)Fix typo in ros2pkg warning message. (#827)Contributors: Chris Lalancette, Tomoya Fujitaros2serviceAdd ros2 service info (#771)Load a message/request/goal from standard input (#844)Fix tests with get_type_description service and param present


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tests with get_type_description service and param present (#838)[service introspection] ros2 service echo (#745)Contributors: Brian, Emerson Knapp, Lee, Minju, ymd-stellaros2topicRemove parentheses from assert statement. (#878)Load a message/request/goal from standard input (#844)Add marshalling functions for rclpy.type_hash.TypeHash (rep2011) (#816)[service introspection] ros2 service echo (#745)Contributors: Brian, Chris Lalancette, Hans-Joachim Krauch, ymd-stellaros2traceReplace all occurences of index.ros.org (#114)Create start/pause/resume/stop sub-commands for ‘ros2 trace’ (#70)Switch <depend> to <exec_depend> in pure Python packages (#67)Contributors: Chris Lalancette, Christophe Bedardrosbag2_compressionUse middleware send and receive timestamps from message_info during recording (#1531)Use std::filesystem instead of rcpputils::fs (#1576)Make some changes for newer versions of uncrustify. (#1578)Add topic_id returned by storage to the TopicMetadata (#1538)Add default initialization for


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to the TopicMetadata (#1538)Add default initialization for CompressionOptions (#1539)Add option to set compression threads priority (#1457)Fixes pointed out by clang. (#1493)Use enum values for offered_qos_profiles in code and string names in serialized metadata (#1476)Add in a missing cstdint include. (#1321)Fix warning from ClassLoader in sequential compression reader and writer (#1299)Contributors: Arne B, Chris Lalancette, Michael Orlov, Patrick Roncagliolo, Roman Sokolkov, jmachowinskirosbag2_compression_zstdUse std::filesystem instead of rcpputils::fs (#1576)Make some changes for newer versions of uncrustify. (#1578)Contributors: Chris Lalancette, Roman Sokolkovrosbag2_cppSupport service 2/2 — rosbag2 service play (#1481)Use middleware send and receive timestamps from message_info during recording (#1531)Update to use yaml-cpp version 0.8.0. (#1605)Use std::filesystem instead of rcpputils::fs (#1576)Make some changes for newer versions of uncrustify. (#1578)Add topic_id returned by storage to the


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of uncrustify. (#1578)Add topic_id returned by storage to the TopicMetadata (#1538)call cv.wait_until only if necessary. (#1521)Implement service recording and display info about recorded services (#1480)Switch to target_link_libraries everywhere. (#1504)Use enum values for offered_qos_profiles in code and string names in serialized metadata (#1476)ros2 bag convert now excludes messages not in [start_time;end_time] (#1455)Replace TSAUniqueLock implementation with rcpputils::unique_lock (#1454)Add BagSplitInfo service call on bag close (#1422)Rewrite TimeControllerClockTest.unpaused_sleep_returns_true to be correct (#1384)Implement storing and loading ROS_DISTRO from metadata.yaml and mcap files (#1241)Don’t crash when type definition cannot be found (#1350)Add recorder stop() API (#1300)Contributors: Barry Xu, Chris Lalancette, Emerson Knapp, Michael Orlov, Patrick Roncagliolo, Peter Favrholdt, Roman Sokolkov, Tomoya Fujita, jmachowinskirosbag2_examples_cppAdd topic_id returned by storage to the


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topic_id returned by storage to the TopicMetadata (#1538)Use enum values for offered_qos_profiles in code and string names in serialized metadata (#1476)Contributors: Michael Orlov, Patrick Roncagliolorosbag2_examples_pyAdd topic_id returned by storage to the TopicMetadata (#1538)Fix a warning from python setuptools. (#1312)Contributors: Chris Lalancette, Michael Orlovrosbag2_interfacesAdd node name to the Read(Write)SplitEvent message (#1609)Contributors: Michael Orlovrosbag2_performance_benchmarkingUse middleware send and receive timestamps from message_info during recording (#1531)Update to use yaml-cpp version 0.8.0. (#1605)Add option to set compression threads priority (#1457)Add per group statistics for rosbag2_performance_benchmarking report (#1306)Set CPU affinity for producers and recorder from benchmark parameters (#1305)Add CPU usage to rosbag2_performance_benchmarking results report (#1304)Add config option to use storage_id parameter in benchmark_launch.py (#1303)Contributors: Chris


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parameter in benchmark_launch.py (#1303)Contributors: Chris Lalancette, Michael Orlov, jmachowinskirosbag2_pyAdd option to disable recorder keyboard controls (#1607)Support service 2/2 — rosbag2 service play (#1481)Use middleware send and receive timestamps from message_info during recording (#1531)Switch rclpy to be an exec_depend here. (#1606)Gracefully handle SIGINT and SIGTERM signals for play and burst CLI (#1557)Added exclude-topic-types to record (#1582)Fix for false negative tests in rosbag2_py (#1592)Update rosbag2_py stubs (#1593)Add Python stubs for rosbag2_py (#1459) (#1569)Filter topic by type  (#1577)Add topic_id returned by storage to the TopicMetadata (#1538)Install signal handlers in recorder only inside record method (#1464)add missing import otherwise it doesnt compile (#1524)Implement service recording and display info about recorded services (#1480)Makerosbag2_transport::Player::play()run in a separate thread (#1503)Switch to target_link_libraries everywhere. (#1504)Use enum values for


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to target_link_libraries everywhere. (#1504)Use enum values for offered_qos_profiles in code and string names in serialized metadata (#1476)ros2 bag convert now excludes messages not in [start_time;end_time] (#1455)Add support for compression to python API (#1425)Gracefully handle SIGINT and SIGTERM in rosbag2 recorder (#1301)Implement storing and loading ROS_DISTRO from metadata.yaml and mcap files (#1241)Add binding to close the writer (#1339)Contributors: Alejandro Hernández Cordero, Andrew Symington, Barry Xu, Bernd Pfrommer, Chris Lalancette, Emerson Knapp, Michael Orlov, Mikael Arguedas, Patrick Roncagliolo, Peter Favrholdt, Roman Sokolkov, Yadu, jmachowinskirosbag2_storageSupport service 2/2 — rosbag2 service play (#1481)Use middleware send and receive timestamps from message_info during recording (#1531)Update to use yaml-cpp version 0.8.0. (#1605)Use std::filesystem instead of rcpputils::fs (#1576)Make some changes for newer versions of uncrustify. (#1578)Add topic_id returned by storage to the


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of uncrustify. (#1578)Add topic_id returned by storage to the TopicMetadata (#1538)Remove rcpputils::fs dependencies from rosbag2_storages (#1558)Improve performance in SqliteStorage::get_bagfile_size() (#1516)Make Player and Recorder Composable (#902) (#1419)Use enum values for offered_qos_profiles in code and string names in serialized metadata (#1476)ros2 bag convert now excludes messages not in [start_time;end_time] (#1455)Fix missing cstdint include (#1383)Implement storing and loading ROS_DISTRO from metadata.yaml and mcap files (#1241)Contributors: Barry Xu, Chris Lalancette, Emerson Knapp, Michael Orlov, Patrick Roncagliolo, Peter Favrholdt, Roman Sokolkov, Zac Stanton, jmachowinskirosbag2_storage_mcapSupport service 2/2 — rosbag2 service play (#1481)Use middleware send and receive timestamps from message_info during recording (#1531)Update to use yaml-cpp version 0.8.0. (#1605)Check existence of a file before passing it to the mcap reader (#1594)Add topic_id returned by storage to the TopicMetadata


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string_value:
(#1594)Add topic_id returned by storage to the TopicMetadata (#1538)Use rw_lock to protect mcap metadata lists. (#1561)Remove rcpputils::fs dependencies from rosbag2_storages (#1558)remove unused headers (#1544)Link and compile against rosbag2_storage_mcap: Fixed issue 1492 (#1496)Use enum values for offered_qos_profiles in code and string names in serialized metadata (#1476)Store serialized metadata in MCAP file (#1423)Implement storing and loading ROS_DISTRO from metadata.yaml and mcap files (#1241)Contributors: Alejandro Hernández Cordero, Barry Xu, Chris Lalancette, Christopher Wecht, Emerson Knapp, Michael Orlov, Patrick Roncagliolo, Roman Sokolkov, Tomoya Fujita, jmachowinski, uupksrosbag2_storage_sqlite3Support service 2/2 — rosbag2 service play (#1481)Use middleware send and receive timestamps from message_info during recording (#1531)Update to use yaml-cpp version 0.8.0. (#1605)Make some changes for newer versions of uncrustify. (#1578)Add topic_id returned by storage to the TopicMetadata


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string_value:
(#1578)Add topic_id returned by storage to the TopicMetadata (#1538)Remove rcpputils::fs dependencies from rosbag2_storages (#1558)Change an incorrect TSA annotation. (#1552)Improve performance in SqliteStorage::get_bagfile_size() (#1516)Update rosbag2_storage_sqlite3 to C++17. (#1501)Use enum values for offered_qos_profiles in code and string names in serialized metadata (#1476)Stop inheriting from std::iterator. (#1424)Implement storing and loading ROS_DISTRO from metadata.yaml and mcap files (#1241)Store metadata in db3 file (#1294)Contributors: Barry Xu, Chris Lalancette, Emerson Knapp, Michael Orlov, Patrick Roncagliolo, Roman Sokolkov, jmachowinskirosbag2_test_commonSupport service 2/2 — rosbag2 service play (#1481)Make some changes for newer versions of uncrustify. (#1578)Implement service recording and display info about recorded services (#1480)Add extra checks in execute_and_wait_until_completion(..) (#1346)Address flakiness in rosbag2_play_end_to_end tests (#1297)Contributors: Barry Xu, Chris


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tests (#1297)Contributors: Barry Xu, Chris Lalancette, Michael Orlovrosbag2_test_msgdefsImplement service recording and display info about recorded services (#1480)Don’t crash when type definition cannot be found (#1350) * Don’t fail when type definition cannot be foundContributors: Barry Xu, Emerson Knapprosbag2_testsUse middleware send and receive timestamps from message_info during recording (#1531)Added exclude-topic-types to record (#1582)Use std::filesystem instead of rcpputils::fs (#1576)Filter topic by type  (#1577)Make some changes for newer versions of uncrustify. (#1578)Add topic_id returned by storage to the TopicMetadata (#1538)Improve performance in SqliteStorage::get_bagfile_size() (#1516)Implement service recording and display info about recorded services (#1480)Mark play_end_to_end test as xfail in Windows (#1452)Implement storing and loading ROS_DISTRO from metadata.yaml and mcap files (#1241)Address flakiness in rosbag2_play_end_to_end tests (#1297)Contributors: Alejandro Hernández


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tests (#1297)Contributors: Alejandro Hernández Cordero, Barry Xu, Chris Lalancette, Cristóbal Arroyo, Emerson Knapp, Michael Orlov, Roman Sokolkov, jmachowinskirosbag2_transportRemoved warnings - unqualified-std-cast-call (#1618) (#1622)Add node name to the Read(Write)SplitEvent message (#1609)Add option to disable recorder keyboard controls (#1607)Support service 2/2 — rosbag2 service play (#1481)Use middleware send and receive timestamps from message_info during recording (#1531)Update to use yaml-cpp version 0.8.0. (#1605)Gracefully handle SIGINT and SIGTERM signals for play and burst CLI (#1557)Added exclude-topic-types to record (#1582)Use std::filesystem instead of rcpputils::fs (#1576)Add transactional state mutex for RecorderImpl class. (#1547)Overhaul in the rosbag2_transport::TopicFilter class and relevant tests (#1585)Filter topic by type  (#1577)fix: use size_t instead of uint64_t in play_options YAML converter (#1575)Make some changes for newer versions of uncrustify. (#1578)Add topic_id


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changes for newer versions of uncrustify. (#1578)Add topic_id returned by storage to the TopicMetadata (#1538)Workaround for flaky test_play_services running with fastrtps (#1556)Add proper message for –start-paused (#1537)Recordingstoppedprints only once. (#1530)Cleanup the rosbag2_transport tests (#1518)Implement service recording and display info about recorded services (#1480)Add option to set compression threads priority (#1457)Bugfix for incorrect playback rate changes when pressing buttons (#1513)Make Player and Recorder Composable (#902) (#1419)Clang fixes for the latest PlayerImpl code. (#1507)Makerosbag2_transport::Player::play()run in a separate thread (#1503)Switch to target_link_libraries everywhere. (#1504)Use enum values for offered_qos_profiles in code and string names in serialized metadata (#1476)Redesign Player class with PIMPL idiom (#1447)Don’t warn for unknown types if topics are not selected (#1466)Remove unused concurrentqueue implementation. (#1465)Fix uninitialized value pointed out


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implementation. (#1465)Fix uninitialized value pointed out by clang static analysis. (#1440)Fix the build with rmw_fastrtps_dynamic. (#1416)Fix for rosbag2_transport::Recorder failures due to the unhandled exceptions (#1382)When using sim time, wait for /clock before beginning recording (#1378)Fix for possible freeze in Recorder::stop() (#1381)Revert “Don’t record sim-time messages before first /clock (#1354)” (#1377)Don’t record sim-time messages before first /clock (#1354)Fix a clang warning about uninitialized variable. (#1370)[bugfix] for parameters not passing to recorder’s node from child component (#1360)Change subscriptions from GenericSubscripton to SubscriptionBase (#1337)Add recorder stop() API (#1300)Contributors: Alejandro Hernández Cordero, Barry Xu, Bernd Pfrommer, Chris Lalancette, Christoph Fröhlich, Daisuke Nishimatsu, Emerson Knapp, Michael Orlov, Patrick Roncagliolo, Roman Sokolkov, Tomoya Fujita, jmachowinski, mergify[bot]rosidl_cmakeImprove deprecation notice of rosidl_target_interface


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deprecation notice of rosidl_target_interface to give a hint on how to update the code (#788)Add rosidl_find_package_idl helper function (#754)Remove unused splitting of .srv files in CMake (#753)Contributors: Alexis Paques, Mike Purvis, Shane Loretzrosidl_dynamic_typesupportuchar: fix conditional include/typedef (#10)uchar: use __has_include(..) on separate line (#8)Refactor the handling of nested types. (#7)Add C++ version check to char16 definition (#3)Contributors: Antonio Cuadros, Chris Lalancette, G.A. vd. Hoornrosidl_generator_cFixed warnings - strict-prototypes (#800) (#802)Set hints to find the python version we actually want. (#785)Add rosidl_find_package_idl helper function (#754)Fix IWYU for clangd in C and C++ (#742)Contributors: Alexis Paques, Chris Lalancette, Mike Purvis, mergify[bot]rosidl_generator_cppSet hints to find the python version we actually want. (#785)Fix constant generation for C++ floats (#772)Add rosidl_find_package_idl helper function (#754)Fixed visibility control file


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helper function (#754)Fixed visibility control file added to wrong header list variable. (#755)Fix deprecation warnings for message constants (#750)Generate typesupport declarations for actions, messages and services (#703)Fix IWYU for clangd in C and C++ (#742)Contributors: Alexis Paques, Chris Lalancette, Emerson Knapp, Mike Purvis, Stefan Fabianrosidl_generator_dds_idlRemove unnecessary parentheses. (#61)Contributors: Chris Lalancetterosidl_generator_pyRevert install of .so files into python path (#211) There seems that some regression might have happened after#195. When removing those 2 lines, we avoid to install the .so files in libandpython path.Prototype code for seeing if FindPython3 is usable for rosidl_python (#140)Add in a missing space. (#203)Install compiled libraries only to ‘lib’ (#195)Fix: Missing dependency that causes cmake error in downstream (resolveshttps://github.com/ros2/rosidl_python/issues/198) (#199)Contributors: Chris Lalancette, Isaac Saito, Matthias Schoepfer, Scott K Logan,


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Lalancette, Isaac Saito, Matthias Schoepfer, Scott K Logan, Shane Loretzrosidl_generator_testsFixed warnings - strict-prototypes (#800) (#802)Increased the cpplint timeout to 300 seconds (#797)Fixes for modern uncrustify. (#793)Fix constant generation for C++ floats (#772)Fix same named types overriding typesources (#759)Contributors: Alejandro Hernández Cordero, Chris Lalancette, Emerson Knapp, mergify[bot]rosidl_generator_type_descriptionSet hints to find the python version we actually want. (#785)Remove unnecessary parentheses. (#783)Contributors: Chris Lalancetterosidl_parserAdding interfaces to support@keyannotation (#796) Co-authored-by: Mario Dominguez <mariodominguez@eprosima.com>Small fix for newer flake8 compatibility. (#792)Remove unnecessary parentheses. (#783)Contributors: Chris Lalancette, Miguel Companyrosidl_pycommonRemove unnecessary parentheses. (#783)Fix same named types overriding typesources (#759)Contributors: Chris Lalancette, Emerson Knapprosidl_runtime_cSwitch to


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Chris Lalancette, Emerson Knapprosidl_runtime_cSwitch to target_link_libraries. (#776)Set the C++ version to 17. (#761)Mark _ in benchmark tests as unused. (#741) This helps clang static analysis.Contributors: Chris Lalancetterosidl_runtime_cppSuppress a warning around BoundedVector. (#803) (#804) The comment has more explanation, but in short GCC 13 has false positives around some warnings, so we suppress it for BoundedVector. (cherry picked from commit 858e76adb03edba00469b91d50dd5fe0dcb34236) Co-authored-by: Chris Lalancette <clalancette@gmail.com>Contributors: mergify[bot]rosidl_runtime_pySome fixes for modern flake8. (#25)Contributors: Chris Lalancetterosidl_typesupport_cFixed warnings - strict-prototypes (#155) (#156)compare string contents but string pointer addresses. (#153)Set hints to find the python version we actually want. (#150)Don’t override user provided compile definitions (#145)Contributors: Chris Lalancette, Emerson Knapp, Tomoya Fujita, mergify[bot]rosidl_typesupport_cppcompare


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Tomoya Fujita, mergify[bot]rosidl_typesupport_cppcompare string contents but string pointer addresses. (#153)Set hints to find the python version we actually want. (#150)Don’t override user provided compile definitions (#145)Added C interfaces to obtain service and action type support. (#143)Contributors: Chris Lalancette, Emerson Knapp, Stefan Fabian, Tomoya Fujitarosidl_typesupport_fastrtps_cAdding interfaces to support@keyannotation (#116) Co-authored-by: Mario Dominguez <mariodominguez@eprosima.com>Support Fast CDR v2 (#114)Improve wide string (de)serialization (#113)Set hints to find the python version we actually want. (#112) Co-authored-by: Michael Carroll <michael@openrobotics.org>Update to C++17 (#111)Account for alignment onis_plaincalculations (#108)Contributors: Chris Lalancette, Miguel Companyrosidl_typesupport_fastrtps_cppFix how header template works to prevent double-inclusion (#117) Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>Adding interfaces to support@keyannotation


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<ahcorde@gmail.com>Adding interfaces to support@keyannotation (#116) Co-authored-by: Mario Dominguez <mariodominguez@eprosima.com>Support Fast CDR v2 (#114)Improve wide string (de)serialization (#113)Set hints to find the python version we actually want. (#112) Co-authored-by: Michael Carroll <michael@openrobotics.org>Update to C++17 (#111)Account for alignment onis_plaincalculations (#108)Avoid redundant declarations in generated code for services and actions (#102)Contributors: Chris Lalancette, Emerson Knapp, Michael Carroll, Miguel Companyrosidl_typesupport_introspection_cFixed warnings - strict-prototypes (#800) (#802)Adding interfaces to support@keyannotation (#796) Co-authored-by: Mario Dominguez <mariodominguez@eprosima.com>Set hints to find the python version we actually want. (#785)Add rosidl_find_package_idl helper function (#754)update comment (#757)Contributors: Chen Lihui, Chris Lalancette, Miguel Company, Mike Purvis, mergify[bot]rosidl_typesupport_introspection_cppAdding interfaces to


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interfaces to support@keyannotation (#796) Co-authored-by: Mario Dominguez <mariodominguez@eprosima.com>Set hints to find the python version we actually want. (#785)Switch to target_link_libraries. (#776)Add rosidl_find_package_idl helper function (#754)update comment (#757)Fix deprecation warnings for message constants (#750)Contributors: Chen Lihui, Chris Lalancette, Emerson Knapp, Miguel Company, Mike Purvisrosidl_typesupport_introspection_testsOne last uncrustify fix for newer uncrustify. (#795)Disable zero-variadic-macro-arguments warning when using clang. (#768)Fixed C++20 warning implicit capture of this in lambda (#766)Contributors: AiVerisimilitude, Chris Lalancetterosidl_typesupport_testsSuppress uncrustify on long lines. (#152)Contributors: Chris Lalancetterpyutilscorrect the URL and f-strings format (#11)Contributors: Chen LihuirqtAdd a test dependency on pytest. (#306)Contributors: Chris Lalancetterqt_bagAdd in copyright tests to rqt_bag. (#154)Add a test dependency on pytest. (#153)Revert


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to rqt_bag. (#154)Add a test dependency on pytest. (#153)Revert “Add a dependency on pytest to rqt_bag and rqt_bag_plugins. (#… (#151)Update maintainer to myself. (#150)Update maintainer list in package.xml files (#149)Add a dependency on pytest to rqt_bag and rqt_bag_plugins. (#148)[ros2] Enable Save (#142)Call close (#141)Use default storage id (#139)Contributors: Chris Lalancette, Michael Jeronimo, Yadu, Yadunundrqt_bag_pluginsAdd a test dependency on pytest. (#153)Revert “Add a dependency on pytest to rqt_bag and rqt_bag_plugins. (#… (#151)Update maintainer to myself. (#150)Update maintainer list in package.xml files (#149)Add a dependency on pytest to rqt_bag and rqt_bag_plugins. (#148)Contributors: Chris Lalancette, Michael Jeronimorqt_consoleAdd a test dependency on pytest. (#45)Contributors: Arne Hitzmann, Chris Lalancetterqt_graphUpdate maintainer list in package.xml files (#92)Add a test dependency on python3-pytest. (#91)Refresh rosgraph when params checkbox is clicked (#86)Contributors: Chris


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when params checkbox is clicked (#86)Contributors: Chris Lalancette, Michael Jeronimo, Yadunundrqt_gui_cppSwitch to target_link_libraries. (#297)Contributors: Chris Lalancetterqt_gui_pyfix an exception raised while press ctrl+c to exit (#291)Contributors: Chen Lihuirqt_msgAdd in python3-pytest test dependency. (#19)Small cleanups to rqt_msg (#16)Contributors: Chris Lalancetterqt_plotAdd in copyright tests to rqt_bag. (#95)Add a test dependency on pytest. (#94)Add in a pytest dependency for running tests. (#92)Fix regression from #87 (#90)Contributors: Chris Lalancette, Yadunundrqt_publisherUse raw strings for regular expressions. (#44)Switch maintainer to me. (#43)Update maintainer list in package.xml files (#42)Add in a test dependency on pytest. (#41)Contributors: Chris Lalancette, Michael Jeronimorqt_py_commonAllow to autocomplete namespaced topics (#299)Contributors: Alejandro Hernández Corderorqt_py_consoleAdd in test dependency on pytest. (#16)Fix a crash in the rqt_py_console dialog box.


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on pytest. (#16)Fix a crash in the rqt_py_console dialog box. (#15)Contributors: Chris Lalancetterqt_reconfigureExplicitly add a pytest test dependency. (#141)Remove unnecessary parentheses around if statements. (#140)Fixed executor conflict (#126)Add param filtering (#128)Fix handling of namespaces in the node tree  (#132)Contributors: Aleksander Szymański, Chris Lalancette, Devarsi Rawal, Nick Lamprianidisrqt_service_callerAdd in a pytest test dependency. (#28)Contributors: Chris Lalancetterqt_shellChange maintainer to clalancette. (#21)Add in pytest test dependency. (#19)Contributors: Chris Lalancette, Michael Jeronimorqt_srvAdd explicit dependency to python3-pytest. (#12)Minor cleanups in rqt_srv for ROS 2 (#9)Contributors: Chris Lalancetterqt_topicSmall fix for modern flake8. (#50)Add explicit python3-pytest dependency. (#48)Contributors: Chris Lalancetterti_connext_dds_cmake_moduleUse unified approach for checking the existence of environment variables (#105)Contributors: Christopher


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of environment variables (#105)Contributors: Christopher WechtrttestUpdate to C++17 (#124)Contributors: Chris Lalancetterviz2Add “R” key as shortcut for resetTime (#1088)Switch to target_link_libraries. (#1098)Contributors: Chris Lalancette, Paul Erik Frivoldrviz_assimp_vendorRemoved assimp warnings (#1191) (#1192) (cherry picked from commit e8dd485d19a35d3abba905020741973e613334e3) Co-authored-by: Alejandro Hernández Cordero <alejandro@openrobotics.org>Update the vendored package path. (#1184) Since we just updated to assimp 5.3, we also need to update the path we look for it. This should fix the build with clang which is currently failing.Update assimp vendor to 5.3.1 (#1182) This matches what is in Ubuntu 24.04.Update to assimp 5.2.2 (#968)Fix the vendoring flags for clang compilation. (#1003)Switch to ament_cmake_vendor_package (#995)Contributors: Chris Lalancette, Scott K Logan, mergify[bot]rviz_commonUpdate to yaml-cpp 0.8.0 (#1183) yaml-cpp 0.8.0 has a proper CMake target, i.e. yaml-cpp::yaml-cpp.


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0.8.0 has a proper CMake target, i.e. yaml-cpp::yaml-cpp. Use that here.Remove regex_filter_property.hpp from the moc lines. (#1172) Since it has no SLOTS or SIGNALS, we don’t need to run MOC on it.  That will both speed up the compilation and remove a warning when building.Added regex filter field for TF display (#1032)Fix camera display overlay (#1151)Fixes for uncrustify 0.78. (#1155) Mostly what we do here is to disable the indentation on certain constructs that are different between 0.72 and 0.78.  It isn’t my preferred solution, but since it only affects a small amount of code (and most of that in macros), this seems acceptable to me.Append measured subscription frequency to topic status (#1113)Implement reset time service (#1109)Add “R” key as shortcut for resetTime (#1088)Add fullscreen startup option (#1097)Switch to target_link_libraries. (#1098)Initialize more of the visualization_manager members. (#1090)Explicit time conversions and comparisons (#1087)Rolling namespace in title (#1074)Removed


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comparisons (#1087)Rolling namespace in title (#1074)Removed unused code (#1044)Remove unused LineEditWithButton::simulateReturnPressed() (#1040)Remove warning in depth_cloud_mld.cpp (#1021)Added DepthCloud default plugin (#996)Stop inheriting from std::iterator. (#1013) In C++17, inheriting from std::iterator has been deprecated: https://www.fluentcpp.com/2018/05/08/std-iterator-deprecated/ Here, switch away from inheriting and just define the interface ourselves (which is the current recommended best practice). This removes some warnings when building with gcc 13.1.1use static QCoreApplication::processEvents() function without a QApplication instance (#924)Re-implemented setName for tools (#989)Add a libqt5-svg dependency to rviz_common. (#992)Remove onHelpWiki. (#985)Clean Code (#975)Contributors: AiVerisimilitude, Alejandro Hernández Cordero, Chris Lalancette, Felix Exner (fexner), Hyunseok, Markus Bader, Paul Erik Frivold, Yadu, Yannis Gerlach, mosfet80rviz_default_pluginsMake sure to export all


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Gerlach, mosfet80rviz_default_pluginsMake sure to export all rviz_default_plugins dependencies. (#1181)Increase the cpplint timeout to 180 seconds. (#1179)Switch to gz_math_vendor. (#1177)Fixed camera info warning (#1175)Added CameraInfo display (#1166)apply origin rotation to inertia box visualization (#1171)Added regex filter field for TF display (#1032)Added point_cloud_transport (#1008)Select QoS reliability policy in DepthCloud Plugin (#1159)Fixed crash on DepthCloud plugin (#1161)Fixes for uncrustify 0.78. (#1155) Mostly what we do here is to disable the indentation on certain constructs that are different between 0.72 and 0.78.  It isn’t my preferred solution, but since it only affects a small amount of code (and most of that in macros), this seems acceptable to me.Fixed crash on DepthCloudPlugin (#1133)Wrench accepth nan values fix (#1141)DepthCloud plugin: Append measured subscription frequency to topic status (#1137)Added Cache to camera display for TimeExact (#1138)Fixed transport name in


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to camera display for TimeExact (#1138)Fixed transport name in DepthCloud plugin (#1134)Fix time-syncing message (#1121)Switch from ROS_TIME to SYSTEM_TIME on rclcpp::Time construction (#1117)Append measured subscription frequency to topic status (#1113)Fix typo (#1104)Fix potencial leak / seg fault (#726)Fixed screw display (#1093)Explicit time conversions and comparisons (#1087)Handle missing effort limit in URDF (#1084)(robot) fix styling of log msg (#1080)Fix image display wrapping (#1038)removed enableInteraction reference (#1075)Fix ODR violations in interactive_marker displays. (#1068)Improve error handling in LaserScanDisplay (#1035)Fix implicit capture of “this” warning in C++20 (#1053)Removed unused code (#1044)Fixed AccelStamped, TwistStamped and Wrench icons (#1041)Fix the flakey rviz_rendering tests (#1026)Don’t pass screw_display.hpp to the moc generator. (#1018) Since it isn’t a Qt class, you get a warning from moc: Note: No relevant classes found. No output generated. Just skip adding it to


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classes found. No output generated. Just skip adding it to the moc list here, which gets rid of the warning.Added DepthCloud default plugin (#996)Added TwistStamped and AccelStamped default plugins (#991)Added Effort plugin (#990)Improve the compilation time of rviz_default_plugins (#1007)Switch to ament_cmake_vendor_package (#995)Modify access specifier to protected or public for the scope of processMessage() member function (#984)Contributors: AiVerisimilitude, Alejandro Hernández Cordero, Austin Moore, Chris Lalancette, Christoph Fröhlich, Hyunseok, Jonas Otto, Lewe Christiansen, Matthijs van der Burgh, Patrick Roncagliolo, Scott K Logan, Yadurviz_ogre_vendorUpdate zlib into CMakeLists.txt (#1128) (#1195) Changes in 1.3 (18 Aug 2023) - Remove K&R function definitions and zlib2ansi - Fix bug in deflateBound() for level 0 and memLevel 9 - Fix bug when gzungetc() is used immediately after gzopen() - Fix bug when using gzflush() with a very small buffer - Fix crash when gzsetparams() attempted for


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very small buffer - Fix crash when gzsetparams() attempted for transparent write - Fix test/example.c to work with FORCE_STORED - Rewrite of zran in examples (see zran.c version history) - Fix minizip to allow it to open an empty zip file - Fix reading disk number start on zip64 files in minizip - Fix logic error in minizip argument processing - Add minizip testing to Makefile - Read multiple bytes instead of byte-by-byte in minizip unzip.c - Add memory sanitizer to configure (–memory) - Various portability improvements - Various documentation improvements - Various spelling and typo corrections Co-authored-by: Chris Lalancette <clalancette@gmail.com> (cherry picked from commit 32eb8b9404927883247e868ab0c7d62b80df2ed1) Co-authored-by: mosfet80 <realeandrea@yahoo.it>Change an rviz_ogre_vendor dependency to libfreetype-dev. (#1167) The situation is complicated, but in versions of Ubuntu prior to Focal and versions of Debian prior to Bookworm, the name of the library was ‘libfreetype6-dev’.  Since Focal and


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name of the library was ‘libfreetype6-dev’.  Since Focal and Bookworm, the name of the library is ‘libfreetype-dev’. While ‘libfreetype-dev’ provides a “virtual package” for ‘libfreetype6-dev’, we should really use the new canonical name. Further, there is currently a bug on ros_buildfarm where it doesn’t properly deal with “virtual packages” like this. This is currently preventing this package from building on Ubuntu Noble.  That bug is being worked on separately. Finally, I’ll note that we already have a libfreetype-dev key in rosdep, so we just switch to using that here which should work around the bug on the buildfarm, and also use the correct canonical name going forward.fix: modify typo in cmake args for mac (#1160)feat: support macos (#1156)Suppress a couple more of clang warnings in rviz_ogre_vendor. (#1102)Fix the vendoring flags for clang compilation. (#1003) Several of the flags are not available on clang, so don’t add them there.  This fixes the clang build for me locally.Switch to


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there.  This fixes the clang build for me locally.Switch to ament_cmake_vendor_package (#995)CMake: rename FeatureSummary.cmake to avoid name clashes (#953)FIX CVE in external libraries (#961)Contributors: Chris Lalancette, Daisuke Nishimatsu, Gökçe Aydos, Scott K Logan, mergify[bot], mosfet80rviz_renderingAdded CameraInfo display (#1166)Fix camera display overlay (#1151)Fixes for uncrustify 0.78. (#1155) Mostly what we do here is to disable the indentation on certain constructs that are different between 0.72 and 0.78.  It isn’t my preferred solution, but since it only affects a small amount of code (and most of that in macros), this seems acceptable to me.fixed MovableText::getWorldTransforms transform (#1118)Switch to target_link_libraries. (#1098)Update rviz_rendering and rviz_rendering_tests to C++17. (#1096)Include MeshShape class (#1064)Use assimp to load stl (#1063)RVIZ_RENDERING_PUBLIC to export class RenderSystem (#1072)Restore the maybe-uninitialized flag in covariance_visual.hpp (#1071)Fix up


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maybe-uninitialized flag in covariance_visual.hpp (#1071)Fix up warnings when building with clang. (#1070)Use buildsystem info to get the ros_package_name (#1062)make box-mode point cloud shader lighter on top than bottom (#1058)Removed warning when building in release mode (#1057)Fixed low FPS when sending point markers (#1049)Removed unused code (#1044)Fix the flakey rviz_rendering tests (#1026)Added TwistStamped and AccelStamped default plugins (#991)Added Effort plugin (#990)load GLB meshes (#1001)Fixed camera default plusin crash (#999)Clean Code (#975) * Clean CodeContributors: Alejandro Hernández Cordero, Chris Lalancette, Felix F Xu, Morgan Quigley, Yaswanth, mosfet80rviz_rendering_testsRemove the loading_ascii_stl_files_fail (#1125)Update rviz_rendering and rviz_rendering_tests to C++17. (#1096)Use assimp to load stl (#1063)Contributors: Alejandro Hernández Cordero, Chris Lalancetterviz_visual_testing_frameworkImprove the compilation time of rviz_default_plugins (#1007)Contributors: Chris


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time of rviz_default_plugins (#1007)Contributors: Chris Lalancettesensor_msgsClarify the license. (#241) In particular, every package in this repository is Apache 2.0 licensed except for sensor_msgs_py.  So move the CONTRIBUTING.md and LICENSE files down into the individual packages, and make sure that sensor_msgs_py has the correct CONTRIBUTING.md file (it already had the correct LICENSE file).[J-Turtle] Fix uninitialized values in NavSatFix and add missing NavSatStatus UNKNOWN (#220) * Fix unitialized values in NavSatFix and add missing UNKNOWN * Fixes#196* Fix default initialization instead of constants * Define SERVICE_UNKNOWN Co-authored-by: Tully Foote <tully.foote@gmail.com> Co-authored-by: Martin Pecka <peci1@seznam.cz>Use target qualifier for checking the cpp typesupport exists (#238)sensor_msgs/CompressedImage: updated description of format field (#231)Return true for isColor if format is YUYV or UYUV (#229)Contributors: Chris Lalancette, Kenji Brameld, Ryansensor_msgs_pyClarify the license.


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Kenji Brameld, Ryansensor_msgs_pyClarify the license. (#241) In particular, every package in this repository is Apache 2.0 licensed except for sensor_msgs_py.  So move the CONTRIBUTING.md and LICENSE files down into the individual packages, and make sure that sensor_msgs_py has the correct CONTRIBUTING.md file (it already had the correct LICENSE file).Allow pointcloud create_cloud function to set specific point_step (#223)Fix read_points_numpy field_names parameterContributors: Chris Lalancette, George Broughtonshape_msgsClarify the license. (#241) In particular, every package in this repository is Apache 2.0 licensed except for sensor_msgs_py.  So move the CONTRIBUTING.md and LICENSE files down into the individual packages, and make sure that sensor_msgs_py has the correct CONTRIBUTING.md file (it already had the correct LICENSE file).Contributors: Chris Lalancetteshared_queues_vendorRemove unused concurrentqueue implementation. (#1465) rosbag2 only depends on the readerwriter queue.Contributors: Chris


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only depends on the readerwriter queue.Contributors: Chris Lalancettespdlog_vendorRemoved spdlog_vendor warnings (#36) (#37) (cherry picked from commit 4510d9ab4389f84daac77210f3fdf8aab372b938) Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>Upgrade to v1.12.0. (#35)Switch to ament_cmake_vendor_package (#34)Contributors: Marco A. Gutierrez, Scott K Logan, mergify[bot]sqlite3_vendorSwitch to ament_cmake_vendor_package (#1400)Contributors: Scott K Logansros2Fix linux tutorial: cloning example policies and set of default policies for a node (#295) (#296) * clone policies to temporary dir as subversion hack doesnt work anymore * add get_type_description service to policies * update MacOS similarly * update all permissions with new topics * dont rule out cycloneDDS * example of enclave override Co-authored-by: Chris Lalancette <clalancette@gmail.com> (cherry picked from commit ca6bb12cc650b73e7ccfc0fa789d8b49358d44ad) Co-authored-by: Mikael Arguedas <mikael.arguedas@gmail.com>Use modern PKCS7 to


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Mikael Arguedas <mikael.arguedas@gmail.com>Use modern PKCS7 to sign the certificate bytes. (#290)Fix a number of warnings on Ubuntu 24.04. (#289)Fix SSH commands in SROS2_Linux.md (#286)Contributors: Boris Boutillier, Chris Lalancette, mergify[bot]std_msgsClarify the license. (#241) In particular, every package in this repository is Apache 2.0 licensed except for sensor_msgs_py.  So move the CONTRIBUTING.md and LICENSE files down into the individual packages, and make sure that sensor_msgs_py has the correct CONTRIBUTING.md file (it already had the correct LICENSE file).Contributors: Chris Lalancettestd_srvsClarify the license. (#241) In particular, every package in this repository is Apache 2.0 licensed except for sensor_msgs_py.  So move the CONTRIBUTING.md and LICENSE files down into the individual packages, and make sure that sensor_msgs_py has the correct CONTRIBUTING.md file (it already had the correct LICENSE file).Contributors: Chris Lalancettestereo_msgsClarify the license. (#241) In particular,


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the license. (#241) In particular, every package in this repository is Apache 2.0 licensed except for sensor_msgs_py.  So move the CONTRIBUTING.md and LICENSE files down into the individual packages, and make sure that sensor_msgs_py has the correct CONTRIBUTING.md file (it already had the correct LICENSE file).Contributors: Chris Lalancettetest_cliSwitch to target_link_libraries everywhere. (#532)Contributors: Chris Lalancettetest_cli_remappingSwitch to target_link_libraries everywhere. (#532)Contributors: Chris Lalancettetest_communicationSmall fix for modern flake8. (#539)Switch to target_link_libraries everywhere. (#532)Add integration test for nested messages. (#530)Adjust for new rclcpp::Rate API (#516)Contributors: Alexey Merzlyakov, Chris Lalancettetest_launch_rosSmall fixes for modern flake8. (#395)add “–log-file-name” command line argument for test. (#387)Fix an assert in the test_launch_ros tests. (#367)Fix misspelled “receive”. (#362)Contributors: Chris Lalancette, Tomoya


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“receive”. (#362)Contributors: Chris Lalancette, Tomoya Fujitatest_launch_testingUpdate to C++17 (#742)Contributors: Chris Lalancettetest_msgsIncrease the timeout for the test_msgs rosidl_generated_cpp cpplint. (#163) This should make it much more likely to succeed on Windows.Fix for invalid conversion from const char8_t* to char for C++20 (#160)Contributors: AiVerisimilitude, Chris Lalancettetest_quality_of_serviceCleanup header includes in test_quality_of_service. (#533)Switch to target_link_libraries everywhere. (#532)Fix test QoS on macOS by moving qos_utilities.cpp to the four tests; fixes#517(#518)Contributors: Chris Lalancette, PhDittmanntest_rclcppAddressed TODO in test_local_parameters (#545)Actually skip the gtest_subscription test on Connext. (#544)Increased time in test_multithreaded (#543)Improve the node_name test. (#538)Change up the formatting in the test_rclcpp tests. (#537)Revamp test_rclcpp to compile far few files. (#535)Mark gtest_subscription__rmw_connextdds xfail. (#531)refactor


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gtest_subscription__rmw_connextdds xfail. (#531)refactor corrected depth check for prefix in parameter_fixtures.hpp (#529)Remove an unnecessary capture in test_rclcpp. (#527)Cleanup of the CMakeLists.txt for test_rclcpp. (#526)Add a fix for the tests given the new type description parameter (#520)Changes ros_timer_init for ros_timer_init2 (#508)refactor the multi_access_publisher test to avoid dead locks (#515)Contributors: Alejandro Hernández Cordero, Chris Lalancette, Eloy Briceno, Emerson Knapp, Lee, Minju, William Woodalltest_rmw_implementationCompile the test_rmw_implementation tests fewer times. (#224)Switch to using target_link_libraries everywhere. (#222)Add rmw_count_clients,services & test (#208)Contributors: Chris Lalancette, Lee, Minjutest_ros2traceAdd explicit context fields test to test_ros2trace (#107)Allow tracing tests to be run in parallel with other tests (#95)Make test_ros2trace depend on test_tracetools_launch.Switch to custom lttng-ctl Python bindings (#81)Contributors: Chris


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to custom lttng-ctl Python bindings (#81)Contributors: Chris Lalancette, Christophe Bedardtest_securityUpdate to C++17 (#528)Switch to target_link_libraries everywhere. (#532)Adjust for new rclcpp::Rate API (#516)Extract sros_artifacts fixture into a CMake script (#525)Use test fixtures to create SROS artifacts (#522)Contributors: Alexey Merzlyakov, Chris Lalancette, Scott K Logantest_tf2Compile fix for upcomming changes to rclcpp::Executor (#668)Adding addition BUILD_TESTING requirement (#660)normalize quaternions on tf2_eigen (#644)Contributors: Lucas Wendland, Paul Gesel, jmachowinskitest_tracetoolsImprove tracetools_test and simplify test_tracetools code (#109)Install test_tracetools_mark_process (#113)Remove unnecessary <string> include (#111)Include <string> in mark_process.cpp (#110)Remove unnecessary print in test (#108)Add test for GenericPublisher/Subscriber (#97)Use lttng_ust_tracef instead of lttng_ust__tracef (#103)Use a memcmp for the expected symbol name. (#100)Fix the build on RHEL-9.


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for the expected symbol name. (#100)Fix the build on RHEL-9. (#98)Allow tracing tests to be run in parallel with other tests (#95)Fix interference between test_tracetools and ros2lifecycle tests (#96)Make tracing test assert messages more descriptive (#93)Update tests and docs after new rmw_publish timestamp field (#90)Switch to target_link_libraries in test_tracetools. (#83)Improve test coverage of rclcpp_callback_register in test_tracetools (#69)Disable tracing on Android (#71)Contributors: Chris Lalancette, Christophe Bedard, Przemysław Dąbrowski, h-suzuki-isptest_tracetools_launchImprove tracing configuration error reporting (#85)Contributors: Christophe Bedardtf2Enable Twist interpolator (#646) Co-authored-by: Tully Foote <tullyfoote@intrinsic.ai>Warning Message Intervals for canTransform (#663)Nacho/minor fixes tf2 cache (#658)Removing console_bridge (#655)Fix constantly increasing memory in std::list (#636)Update the tf2 documentation (#638)Fix error code returned in BufferCore::walkToTopParent


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(#638)Fix error code returned in BufferCore::walkToTopParent (#601)Contributors: Alejandro Hernández Cordero, Chris Lalancette, Ignacio Vizzo, Lucas Wendland, Patrick Roncagliolotf2_bulletRemoved obsolete headers (#645)Contributors: Alejandro Hernández Corderotf2_eigenRemoved obsolete headers (#645)normalize quaternions on tf2_eigen (#644)Fix clang build warnings. (#628)Add another reference for twist transformation. Comment correction. (#620)Contributors: Alejandro Hernández Cordero, AndyZe, Chris Lalancette, Paul Geseltf2_eigen_kdlFix installation directory of .dll files in tf2_eigen_kdl (#657)Remove unnecessary use of ament_target_dependencies. (#637) We can just use target_link_libraries instead.Fix clang build warnings. (#628)Contributors: Chris Lalancette, Silvio Traversarotf2_geometry_msgsEnable Twist interpolator (#646) Co-authored-by: Tully Foote <tullyfoote@intrinsic.ai>Removed obsolete headers (#645)Add doTransform support for Point32, Polygon and PolygonStamped (backport#616)


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support for Point32, Polygon and PolygonStamped (backport#616) (#619)Contributors: Alejandro Hernández Cordero, mergify[bot]tf2_kdlRemoved obsolete headers (#645)Contributors: Alejandro Hernández Corderotf2_pyEnable Twist interpolator (#646) Co-authored-by: Tully Foote <tullyfoote@intrinsic.ai>Contributors: Alejandro Hernández Corderotf2_rosCompile fix for upcomming changes to rclcpp::Executor (#668)Enable Twist interpolator (#646) Co-authored-by: Tully Foote <tullyfoote@intrinsic.ai>Adding NodeInterfaces to Buffer (#656)Reformat some code to make uncrustify happier. (#654)Enable intra-process (#649) (#642)Avoid unecessary time conversions. (#635)Expose TF2 listener CB (#632)Fix invalid timer handle exception (#474)Fix for#589- Should be able to transform with default timeout (#593)Enable StaticTransformBroadcaster in Intra-process enabled components (#607)Contributors: AiVerisimilitude, Alejandro Hernández Cordero, Chris Lalancette, Cliff Wu, Lucas Wendland, Patrick Roncagliolo, Steve Macenski,


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Cliff Wu, Lucas Wendland, Patrick Roncagliolo, Steve Macenski, jmachowinski, vineet131tf2_ros_pyTransform Data Callback Python (#664)Make sure to cache transforms in tf2_ros_py. (#634)Remove ‘efficient copy’ prints (#625)Add time jump callback (#608)Contributors: Chris Lalancette, Erich L Foster, Lucas Wendland, Matthijs van der Burghtf2_sensor_msgsRemoved obsolete headers (#645)Fix clang build warnings. (#628)Contributors: Alejandro Hernández Cordero, Chris Lalancettetf2_tools[view_frames] log filenames after it’s been determined (#674) (#675) (cherry picked from commit 24643fce510d8cc836fe6e5277a1d3f86a21af04) Co-authored-by: Mikael Arguedas <mikael.arguedas@gmail.com>Add in tests for tf2_tools. (#647)Contributors: Chris Lalancette, mergify[bot]topic_monitorUpdate maintainer list in package.xml files (#665)fix readme for topic_monitor. (#630)Contributors: Michael Jeronimo, Tomoya Fujitatopic_statistics_demoUpdate maintainer list in package.xml files (#665)Contributors: Michael


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list in package.xml files (#665)Contributors: Michael JeronimotracetoolsReplace all occurences of index.ros.org (#114)Switch to ament_generate_version_header for tracetools (#112)Fixes for newer uncrustify (#101)Update tests and docs after new rmw_publish timestamp field (#90)Add timestamp to rmw_publish tracepoint (#74)Add TRACETOOLS_ prefix to tracepoint-related public macros (#56)Disable tracing on Android (#71)Add new rclcpp_subscription_init tracepoint to support new intra-process commsContributors: Chris Lalancette, Christophe Bedard, Christopher Wecht, Przemysław Dąbrowskitracetools_launchReplace all occurences of index.ros.org (#114)Use single underscore for private vars in Python (#92)Improve tracing configuration error reporting (#85)Fix warnings when using mypy 1.8.0. (#89)Remove extra single quote in LdPreload debug log (#79)Contributors: Chris Lalancette, Christophe Bedardtracetools_readReplace all occurences of index.ros.org (#114)Improve tracetools_test and simplify test_tracetools code


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(#114)Improve tracetools_test and simplify test_tracetools code (#109)Allow tracing tests to be run in parallel with other tests (#95)Contributors: Chris Lalancette, Christophe Bedardtracetools_testReplace all occurences of index.ros.org (#114)Improve tracetools_test and simplify test_tracetools code (#109)Improve assertEventOrder failure output (#106)Allow tracing tests to be run in parallel with other tests (#95)Fix interference between test_tracetools and ros2lifecycle tests (#96)Make tracing test assert messages more descriptive (#93)Fix use of mutable default arg in tracetools_test (#84)Switch <depend> to <exec_depend> in pure Python packages (#67)Contributors: Chris Lalancette, Christophe Bedardtracetools_traceReplace all occurences of index.ros.org (#114)Improve tracing configuration error reporting (#85)Add a space in between not and parentheses. (#88)Switch to custom lttng-ctl Python bindings (#81)Create start/pause/resume/stop sub-commands for ‘ros2 trace’ (#70)Detect issue with LTTng and Docker


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for ‘ros2 trace’ (#70)Detect issue with LTTng and Docker and report error when tracing (#66)Contributors: Chris Lalancette, Christophe Bedardtrajectory_msgsClarify the license. (#241) In particular, every package in this repository is Apache 2.0 licensed except for sensor_msgs_py.  So move the CONTRIBUTING.md and LICENSE files down into the individual packages, and make sure that sensor_msgs_py has the correct CONTRIBUTING.md file (it already had the correct LICENSE file).Contributors: Chris LalancetteturtlesimAdd icon for Jazzy. (#167) (#168) (cherry picked from commit 014955e15a6ac3b1649cbf21e11c8547ebd47af7) Co-authored-by: Marco A. Gutierrez <marcogg@marcogg.com>[teleop_turtle_key] update usage string to match keys captured by keyboard (#165) (#166) On windows it will stay uppercase but shouldn’t impact users compared to current situation (cherry picked from commit e2853cac87f0c62db6294e5bc351e5b52fcd1ae1) Co-authored-by: Mikael Arguedas <mikael.arguedas@gmail.com>Shorten the callback definition for


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<mikael.arguedas@gmail.com>Shorten the callback definition for uncrustify. (#163)Use same QoS for all topic pub/subs (#161)Remove all uses of ament_target_dependencies. (#159)Crop galactic.png and rolling.png to 45x45. (#158)Remove the unused member variable last_state_ (#156)Added common tests (#154)Heavy cleanup of the draw_square tutorial. (#152) * Heavy cleanup of the draw_square tutorial. In particular: 1. Make it conform to the current ROS 2 style. 2. Add in copyright information. 3. Refactor the entire code into a class, which tidies it up quite a bit and removes a bunch of globals. 4. Make sure to wait for the reset to complete before trying to move the turtle.Remove the range constraints from the holonomic parameter. (#150)Add icon (#148)Contributors: Alejandro Hernández Cordero, Chris Lalancette, Jason O’Kane, Yadu, mergify[bot]uncrustify_vendorUpdate to uncrustify 0.78.1 (#37) * Update to uncrustify 0.78.1 * Fix the uncrustify version detection logic. And make sure we are at least 0.78.Switch to


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detection logic. And make sure we are at least 0.78.Switch to ament_cmake_vendor_package (#34)Contributors: Chris Lalancette, Scott K Loganunique_identifier_msgsUpdate to C++17 (#27)Contributors: Chris LalancetteurdfSwitch to target_link_libraries (#36)Contributors: Chris Lalancetteurdf_parser_pluginSwitch to target_link_libraries (#36)Contributors: Chris Lalancettevisualization_msgsRemove references to index.ros.org. (#244)Adds ARROW_STRIP to Marker.msg (#242)Clarify the license. (#241) In particular, every package in this repository is Apache 2.0 licensed except for sensor_msgs_py.  So move the CONTRIBUTING.md and LICENSE files down into the individual packages, and make sure that sensor_msgs_py has the correct CONTRIBUTING.md file (it already had the correct LICENSE file).Contributors: Chris Lalancette, Tom Nobleyaml_cpp_vendorRemoved warnigns (#49) (#50) (cherry picked from commit 4b6808fd0f9b0b5e05928c0c8e44fd976a043d33) Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>Upgrade to


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Alejandro Hernández Cordero <ahcorde@gmail.com>Upgrade to yaml-cpp 0.8.0 (#48) Co-authored-by: Chris Lalancette <clalancette@gmail.com>Support yaml-cpp >= 0.8.0 (#46)Disable the -Wshadow warning when building under clang. (#45)Switch to ament_cmake_vendor_package (#43)Revamp the extras file to find the correct version. (#42)Contributors: Chris Lalancette, Marco A. Gutierrez, Scott K Logan, Silvio Traversaro, mergify[bot]zstd_vendorUpdated zstd to 1.5.5 (#1617) (#1624)Switch to ament_cmake_vendor_package (#1400)Contributors: Scott K Logan, mergify[bot]


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Title: ROS 2 on Raspberry Pi URL: https://docs.ros.org/en/jazzy/How-To-Guides/Installing-on-Raspberry-Pi.html Section: Installation --------------------------------------------------------------------------------


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ROS 2 on Raspberry PiROS 2 is supported on both 32 bit (arm32) and 64 bit (arm64) ARM processors. However, you can seeherethat arm64 receives Tier 1 support, while arm32 is Tier 3. Tier 1 support means distribution specific packages and binary archives are available, while Tier 3 requires the user to compile ROS 2 from source.The fastest and simplest way to use ROS 2 is to use a Tier 1 supported configuration.This would mean either installing 64 bit Ubuntu on to the Raspberry Pi, or using the 64 bit version of Raspberry Pi OS and running ROS 2 in Docker.Ubuntu Linux on Raspberry Pi with binary ROS 2 installUbuntu for Raspberry Pi is availablehere.Make sure to confirm that you have selected the correct version as described inREP-2000.You can now install ROS 2 using the normal binary installation instructions for Ubuntu Linux.Raspberry Pi OS with ROS 2 in dockerRaspberry Pi OS 64 bit version isavailable here.Raspberry Pi OS is based on Debian which receives Tier 3 support, but it can run Ubuntu docker


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which receives Tier 3 support, but it can run Ubuntu docker containers for Tier 1 support.After flashing the OS,install Docker.The official ROS 2 Docker images can be foundhere.You may choose from ros-core, ros-base, or perception. Seeherefor more information on these variants.Fetch and run an image:dockerpullros:jazzy-ros-core dockerrun-it--rmros:jazzy-ros-coreYou can also build images yourself:Clone thedocker_images git repoonto the Raspberry Pi, change in to the directory linked above, then to the directory with your preferred variant.Inside of the directory, build the container with:dockerbuild-tros_docker.On a supported system it will only take a minute or two to build the docker containers, as the source code is already built in to binaries.


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Code Examples:

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Title: Writing a simple publisher and subscriber (Python) URL: https://docs.ros.org/en/jazzy/Tutorials/Beginner-Client-Libraries/Writing-A-Simple-Py-Publisher-And-Subscriber.html Section: Installation --------------------------------------------------------------------------------


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Writing a simple publisher and subscriber (Python)Goal:Create and run a publisher and subscriber node using Python.Tutorial level:BeginnerTime:20 minutesContentsBackgroundPrerequisitesTasks1 Create a package2 Write the publisher node3 Write the subscriber node4 Build and runSummaryNext stepsRelated contentBackgroundIn this tutorial, you will createnodesthat pass information in the form of string messages to each other over atopic. The example used here is a simple “talker” and “listener” system; one node publishes data and the other subscribes to the topic so it can receive that data.The code used in these examples can be foundhere.PrerequisitesIn previous tutorials, you learned how tocreate a workspaceandcreate a package.A basic understanding of Python is recommended, but not entirely necessary.Tasks1 Create a packageOpen a new terminal andsource your ROS 2 installationso thatros2commands will work.Navigate into theros2_wsdirectory created in aprevious tutorial.Recall that packages should be created in


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in aprevious tutorial.Recall that packages should be created in thesrcdirectory, not the root of the workspace. So, navigate intoros2_ws/src, and run the package creation command:ros2 pkg create --build-type ament_python --license Apache-2.0 py_pubsubYour terminal will return a message verifying the creation of your packagepy_pubsuband all its necessary files and folders.2 Write the publisher nodeNavigate intoros2_ws/src/py_pubsub/py_pubsub. Recall that this directory is aPython packagewith the same name as the ROS 2 package it’s nested in.Download the example talker code by entering the following command:LinuxmacOSWindowswget https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.pywget https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.pyIn a Windows command line prompt:curl -sk


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a Windows command line prompt:curl -sk https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py -o publisher_member_function.pyOr in powershell:curl https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py -o publisher_member_function.pyNow there will be a new file namedpublisher_member_function.pyadjacent to__init__.py.Open the file using your preferred text editor.importrclpyfromrclpy.nodeimportNodefromstd_msgs.msgimportStringclassMinimalPublisher(Node):def__init__(self):super().__init__('minimal_publisher')self.publisher_=self.create_publisher(String,'topic',10)timer_period=0.5# secondsself.timer=self.create_timer(timer_period,self.timer_callback)self.i=0deftimer_callback(self):msg=String()msg.data='Hello World:%d'%self.iself.publisher_.publish(msg)self.get_logger().info('Publishing:


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"%s"'%msg.data)self.i+=1defmain(args=None):rclpy.init(args=args)minimal_publisher=MinimalPublisher()rclpy.spin(minimal_publisher)# Destroy the node explicitly# (optional - otherwise it will be done automatically# when the garbage collector destroys the node object)minimal_publisher.destroy_node()rclpy.shutdown()if__name__=='__main__':main()2.1 Examine the codeThe first lines of code after the comments importrclpyso itsNodeclass can be used.importrclpyfromrclpy.nodeimportNodeThe next statement imports the built-in string message type that the node uses to structure the data that it passes on the topic.fromstd_msgs.msgimportStringThese lines represent the node’s dependencies. Recall that dependencies have to be added topackage.xml, which you’ll do in the next section.Next, theMinimalPublisherclass is created, which inherits from (or is a subclass of)Node.classMinimalPublisher(Node):Following is the definition of the class’s constructor.super().__init__calls theNodeclass’s constructor and gives it your node


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theNodeclass’s constructor and gives it your node name, in this caseminimal_publisher.create_publisherdeclares that the node publishes messages of typeString(imported from thestd_msgs.msgmodule), over a topic namedtopic, and that the “queue size” is 10. Queue size is a required QoS (quality of service) setting that limits the amount of queued messages if a subscriber is not receiving them fast enough.Next, a timer is created with a callback to execute every 0.5 seconds.self.iis a counter used in the callback.def__init__(self):super().__init__('minimal_publisher')self.publisher_=self.create_publisher(String,'topic',10)timer_period=0.5# secondsself.timer=self.create_timer(timer_period,self.timer_callback)self.i=0timer_callbackcreates a message with the counter value appended, and publishes it to the console withget_logger().info.deftimer_callback(self):msg=String()msg.data='Hello World:%d'%self.iself.publisher_.publish(msg)self.get_logger().info('Publishing: "%s"'%msg.data)self.i+=1Lastly, the main function is


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"%s"'%msg.data)self.i+=1Lastly, the main function is defined.defmain(args=None):rclpy.init(args=args)minimal_publisher=MinimalPublisher()rclpy.spin(minimal_publisher)# Destroy the node explicitly# (optional - otherwise it will be done automatically# when the garbage collector destroys the node object)minimal_publisher.destroy_node()rclpy.shutdown()First therclpylibrary is initialized, then the node is created, and then it “spins” the node so its callbacks are called.2.2 Add dependenciesNavigate one level back to theros2_ws/src/py_pubsubdirectory, where thesetup.py,setup.cfg, andpackage.xmlfiles have been created for you.Openpackage.xmlwith your text editor.As mentioned in theprevious tutorial, make sure to fill in the<description>,<maintainer>and<license>tags:<description>Examplesofminimalpublisher/subscriberusingrclpy</description><maintaineremail="you@email.com">YourName</maintainer><license>Apache-2.0</license>After the lines above, add the following dependencies corresponding to your node’s import


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the following dependencies corresponding to your node’s import statements:<exec_depend>rclpy</exec_depend><exec_depend>std_msgs</exec_depend>This declares the package needsrclpyandstd_msgswhen its code is executed.Make sure to save the file.2.3 Add an entry pointOpen thesetup.pyfile. Again, match themaintainer,maintainer_email,descriptionandlicensefields to yourpackage.xml:maintainer='YourName',maintainer_email='you@email.com',description='Examples of minimal publisher/subscriber using rclpy',license='Apache-2.0',Add the following line within theconsole_scriptsbrackets of theentry_pointsfield:entry_points={'console_scripts':['talker = py_pubsub.publisher_member_function:main',],},Don’t forget to save.2.4 Check setup.cfgThe contents of thesetup.cfgfile should be correctly populated automatically, like so:[develop]script_dir=$base/lib/py_pubsub[install]install_scripts=$base/lib/py_pubsubThis is simply telling setuptools to put your executables inlib, becauseros2runwill look for them there.You could build


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inlib, becauseros2runwill look for them there.You could build your package now, source the local setup files, and run it, but let’s create the subscriber node first so you can see the full system at work.3 Write the subscriber nodeReturn toros2_ws/src/py_pubsub/py_pubsubto create the next node. Enter the following code in your terminal:LinuxmacOSWindowswget https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.pywget https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.pyIn a Windows command line prompt:curl -sk https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py -o subscriber_member_function.pyOr in powershell:curl


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-o subscriber_member_function.pyOr in powershell:curl https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py -o subscriber_member_function.pyNow the directory should have these files:__init__.py  publisher_member_function.py  subscriber_member_function.py3.1 Examine the codeOpen thesubscriber_member_function.pywith your text editor.importrclpyfromrclpy.nodeimportNodefromstd_msgs.msgimportStringclassMinimalSubscriber(Node):def__init__(self):super().__init__('minimal_subscriber')self.subscription=self.create_subscription(String,'topic',self.listener_callback,10)self.subscription# prevent unused variable warningdeflistener_callback(self,msg):self.get_logger().info('I heard: "%s"'%msg.data)defmain(args=None):rclpy.init(args=args)minimal_subscriber=MinimalSubscriber()rclpy.spin(minimal_subscriber)# Destroy the node explicitly# (optional - otherwise it will be done automatically# when the garbage collector destroys the


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be done automatically# when the garbage collector destroys the node object)minimal_subscriber.destroy_node()rclpy.shutdown()if__name__=='__main__':main()The subscriber node’s code is nearly identical to the publisher’s. The constructor creates a subscriber with the same arguments as the publisher. Recall from thetopics tutorialthat the topic name and message type used by the publisher and subscriber must match to allow them to communicate.self.subscription=self.create_subscription(String,'topic',self.listener_callback,10)The subscriber’s constructor and callback don’t include any timer definition, because it doesn’t need one. Its callback gets called as soon as it receives a message.The callback definition simply prints an info message to the console, along with the data it received. Recall that the publisher definesmsg.data='HelloWorld:%d'%self.ideflistener_callback(self,msg):self.get_logger().info('I heard: "%s"'%msg.data)Themaindefinition is almost exactly the same, replacing the creation and spinning of


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almost exactly the same, replacing the creation and spinning of the publisher with the subscriber.minimal_subscriber=MinimalSubscriber()rclpy.spin(minimal_subscriber)Since this node has the same dependencies as the publisher, there’s nothing new to add topackage.xml. Thesetup.cfgfile can also remain untouched.3.2 Add an entry pointReopensetup.pyand add the entry point for the subscriber node below the publisher’s entry point. Theentry_pointsfield should now look like this:entry_points={'console_scripts':['talker = py_pubsub.publisher_member_function:main','listener = py_pubsub.subscriber_member_function:main',],},Make sure to save the file, and then your pub/sub system should be ready.4 Build and runYou likely already have therclpyandstd_msgspackages installed as part of your ROS 2 system. It’s good practice to runrosdepin the root of your workspace (ros2_ws) to check for missing dependencies before building:LinuxmacOSWindowsrosdep install -i --from-path src --rosdistro jazzy -yrosdep only runs on Linux,


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--from-path src --rosdistro jazzy -yrosdep only runs on Linux, so you can skip ahead to next step.rosdep only runs on Linux, so you can skip ahead to next step.Still in the root of your workspace,ros2_ws, build your new package:LinuxmacOSWindowscolcon build --packages-select py_pubsubcolcon build --packages-select py_pubsubcolcon build --merge-install --packages-select py_pubsubOpen a new terminal, navigate toros2_ws, and source the setup files:LinuxmacOSWindowssource install/setup.bash. install/setup.bashcall install/setup.batNow run the talker node:ros2 run py_pubsub talkerThe terminal should start publishing info messages every 0.5 seconds, like so:[INFO] [minimal_publisher]: Publishing: "Hello World: 0"[INFO] [minimal_publisher]: Publishing: "Hello World: 1"[INFO] [minimal_publisher]: Publishing: "Hello World: 2"[INFO] [minimal_publisher]: Publishing: "Hello World: 3"[INFO] [minimal_publisher]: Publishing: "Hello World: 4"...Open another terminal, source the setup files from insideros2_wsagain, and then


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source the setup files from insideros2_wsagain, and then start the listener node:ros2 run py_pubsub listenerThe listener will start printing messages to the console, starting at whatever message count the publisher is on at that time, like so:[INFO] [minimal_subscriber]: I heard: "Hello World: 10"[INFO] [minimal_subscriber]: I heard: "Hello World: 11"[INFO] [minimal_subscriber]: I heard: "Hello World: 12"[INFO] [minimal_subscriber]: I heard: "Hello World: 13"[INFO] [minimal_subscriber]: I heard: "Hello World: 14"EnterCtrl+Cin each terminal to stop the nodes from spinning.SummaryYou created two nodes to publish and subscribe to data over a topic. Before running them, you added their dependencies and entry points to the package configuration files.Next stepsNext you’ll create another simple ROS 2 package using the service/client model. Again, you can choose to write it in eitherC++orPython.Related contentThere are several ways you could write a publisher and subscriber in Python; check out


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you could write a publisher and subscriber in Python; check out theminimal_publisherandminimal_subscriberpackages in theros2/examplesrepo.


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Code Examples:

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ros2 pkg create -

build

type ament_python -

license Apache

2.0 py_pubsub

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wget https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py

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wget https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py

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curl

sk https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py

o publisher_member_function.py

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curl https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_publisher/examples_rclpy_minimal_publisher/publisher_member_function.py

o publisher_member_function.py


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o publisher_member_function.py

Language: unknown importrclpyfromrclpy.nodeimportNodefromstd_msgs.msgimportStringclassMinimalPublisher(Node):def__init__(self):super().__init__('minimal_publisher')self.publisher_=self.create_publisher(String,'topic',10)timer_period=0.5# secondsself.timer=self.create_timer(timer_period,self.timer_callback)self.i=0deftimer_callback(self):msg=String()msg.data='Hello World:%d'%self.iself.publisher_.publish(msg)self.get_logger().info('Publishing: "%s"'%msg.data)self.i+=1defmain(args=None):rclpy.init(args=args)minimal_publisher=MinimalPublisher()rclpy.spin(minimal_publisher)# Destroy the node explicitly# (optional - otherwise it will be done automatically# when the garbage collector destroys the node object)minimal_publisher.destroy_node()rclpy.shutdown()if__name__=='__main__':main()

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importrclpyfromrclpy.nodeimportNode

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fromstd_msgs.msgimportString

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classMinimalPublisher(Node):

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classMinimalPublisher(Node):

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def__init__(self):super().__init__('minimal_publisher')self.publisher_=self.create_publisher(String,'topic',10)timer_period=0.5# secondsself.timer=self.create_timer(timer_period,self.timer_callback)self.i=0

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deftimer_callback(self):msg=String()msg.data='Hello World:%d'%self.iself.publisher_.publish(msg)self.get_logger().info('Publishing: "%s"'%msg.data)self.i+=1

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<description>Examplesofminimalpublisher/subscriberusingrclpy</description><maintaineremail="you@email.com">YourName</maintainer><license>Apache

2.0</license>

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<exec_depend>rclpy</exec_depend><exec_depend>std_msgs</exec_depend>


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Language: unknown maintainer='YourName',maintainer_email='you@email.com',description='Examples of minimal publisher/subscriber using rclpy',license='Apache-2.0',

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entry_points={'console_scripts':['talker = py_pubsub.publisher_member_function:main',],},

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[develop]script_dir=$base/lib/py_pubsub[install]install_scripts=$base/lib/py_pubsub

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wget https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py

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wget https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py

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curl

sk https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py

o subscriber_member_function.py

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o subscriber_member_function.py

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curl https://raw.githubusercontent.com/ros2/examples/jazzy/rclpy/topics/minimal_subscriber/examples_rclpy_minimal_subscriber/subscriber_member_function.py

o subscriber_member_function.py

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Language: unknown importrclpyfromrclpy.nodeimportNodefromstd_msgs.msgimportStringclassMinimalSubscriber(Node):def__init__(self):super().__init__('minimal_subscriber')self.subscription=self.create_subscription(String,'topic',self.listener_callback,10)self.subscription# prevent unused variable warningdeflistener_callback(self,msg):self.get_logger().info('I heard: "%s"'%msg.data)defmain(args=None):rclpy.init(args=args)minimal_subscriber=MinimalSubscriber()rclpy.spin(minimal_subscriber)# Destroy the node explicitly# (optional - otherwise it will be done automatically# when the garbage collector destroys the node object)minimal_subscriber.destroy_node()rclpy.shutdown()if__name__=='__main__':main()

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self.subscription=self.create_subscription(String,'topic',self.listener_callback,10)

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deflistener_callback(self,msg):self.get_logger().info('I heard: "%s"'%msg.data)

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minimal_subscriber=MinimalSubscriber()rclpy.spin(minimal_subscriber)


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Language: unknown entry_points={'console_scripts':['talker = py_pubsub.publisher_member_function:main','listener = py_pubsub.subscriber_member_function:main',],},

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rosdep install

i -

from

path src -

rosdistro jazzy

y

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colcon build -

packages

select py_pubsub

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colcon build -

packages

select py_pubsub

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colcon build -

merge

install -

packages

select py_pubsub

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source install/setup.bash

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. install/setup.bash

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call install/setup.bat

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ros2 run py_pubsub talker

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ros2 run py_pubsub listener


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ros2 run py_pubsub listener

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Title: Rolling Ridley (rolling)

URL: https://docs.ros.org/en/jazzy/Releases/Release

Rolling

Ridley.html

Section: Installation

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Rolling Ridley (rolling)Table of ContentsCurrently Supported PlatformsInstallationNew features and changes in this releaseRolling Ridleyis a rolling development release of ROS 2.WarningRolling Ridley is continuously updated and is subject to in-place updates which will at times include breaking changes. It is used for ROS 2 development and by maintainers who want their packages released and ready for the next stable distribution. We recommend that most users of ROS 2 use the lateststable distribution.For more information seeREP-2002Currently Supported PlatformsRolling Ridley is currently supported on the following platforms:Tier 1 platforms:Ubuntu 24.04 (Noble):amd64andarm64Windows 10 (Visual Studio 2019)Tier 3 platforms:Debian Buster (10):amd64,arm64andarm32Mac macOS 10.14 (Mojave)OpenEmbedded Thud (2.6) / webOS OSE:arm32andx86InstallationInstall Rolling RidleyNew features and changes in this releaseRolling Ridley is an ongoing development distribution. Changes between the current stable release and the


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Changes between the current stable release and the upcoming one can be found on the page for theupcoming release.


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Title: Ardent Apalone (ardent)

URL: https://docs.ros.org/en/jazzy/Releases/Release

Ardent

Apalone.html

Section: Installation

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Ardent Apalone (ardent)Table of ContentsSupported PlatformsFeaturesNew features in this ROS 2 releaseChanges since Beta 3 releaseKnown IssuesWelcome to the first non-beta release of ROS 2 software namedArdent Apalone!Supported PlatformsThis version of ROS 2 is supported on three platforms:Ubuntu 16.04 (Xenial)Mac macOS 10.12 (Sierra)Windows 10Binary packages as well as instructions for how to compile from source are provided for all 3 platforms (seeinstall instructionsas well asdocumentation).FeaturesNew features in this ROS 2 releaseDistributed discovery, publish / subscribe, request / response communicationProvided by a C APIImplemented using different vendors:eProsima’s Fast RTPS as well as ADLINK’s OpenSplice (from binary and source)RTI’s Connext (only from source)Numerous quality of service settings for handling non-ideal networksDDS Security support (with Connext and Fast RTPS)C++ and Python 3 client librariesSharing common code in C to unify the implementationExecution model separated from the


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C to unify the implementationExecution model separated from the nodes, composable nodesNode-specific parameters (only in C++ atm)Life cycle (only in C++ atm)Optionally intra-process communication using the same API (only in C++)Message definitions (with bounded arrays and strings as well as default values)Command line tools (e.g.ros2run)rvizwith a few display types (the Windows version will likely follow in a few weeks)File system-based resource index (querying information without recursive crawling)Realtime safe code paths for pub / sub (with compatible DDS implementations only)Bridge between ROS 1 and ROS 2HSR demosee Beta 3Turtlebot demosee Beta 2For a more detailed description please see theFeaturespage.Changes since Beta 3 releaseImprovements since the Beta 3 release:rvizDifferent initialization options for message data structures in C++ (seedesign doc)Logging API improvements, now also used in the demosTime support in C++ with different clockswait-for-service support in the Python client libraryDraft


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support in the Python client libraryDraft implementation ofREP 149specifying format 3 of the package manifest filesKnown IssuesFast RTPS performance with larger data like the image demoUsing Connext it is currently not allowed for two topics with the same base name but different namespaces to have a different type (seeissue).Listing of node names (e.g. usingros2nodelist) does not work across some rmw implementations.On Windows Python launch files might hang when trying to abort usingCtrl-C(seeissue). In order to continue using the shell which is blocked by the hanging command you might want to end the hanging Python process using the process monitor.


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Title: Reading from a bag file (C++) URL: https://docs.ros.org/en/jazzy/Tutorials/Advanced/Reading-From-A-Bag-File-CPP.html Section: Installation --------------------------------------------------------------------------------


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Reading from a bag file (C++)Goal:Read data from a bag without using the CLI.Tutorial level:AdvancedTime:10 minutesContentsBackgroundPrerequisitesTasks1 Create a Package2 Write the C++ Reader3 Build and runSummaryBackgroundrosbag2doesn’t just provide theros2bagcommand line tool. It also provides a C++ API for reading from and writing to a bag from your own source code. This allows you to read the contents from a bag without having to play the bag, which can sometimes be useful.PrerequisitesYou should have therosbag2packages installed as part of your regular ROS 2 setup.If you need to install ROS 2, see theInstallation instructions.You should have already completed thebasic ROS 2 bag tutorial, and we will be using thesubsetbag you created there.Tasks1 Create a PackageOpen a new terminal andsource your ROS 2 installationso thatros2commands will work.In a new or existingworkspace, navigate to thesrcdirectory and create a new package:ros2 pkg create --build-type ament_cmake --license Apache-2.0


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pkg create --build-type ament_cmake --license Apache-2.0 bag_reading_cpp --dependencies rclcpp rosbag2_transport turtlesimYour terminal will return a message verifying the creation of your packagebag_reading_cppand all its necessary files and folders. The--dependenciesargument will automatically add the necessary dependency lines topackage.xmlandCMakeLists.txt. In this case, the package will use therosbag2_transportpackage as well as therclcpppackage. A dependency on theturtlesimpackage is also required for working with the custom turtlesim messages.1.1 Updatepackage.xmlBecause you used the--dependenciesoption during package creation, you don’t have to manually add dependencies topackage.xmlorCMakeLists.txt. As always, though, make sure to add the description, maintainer email and name, and license information topackage.xml.<description>C++bagreadingtutorial</description><maintaineremail="you@email.com">YourName</maintainer><license>Apache-2.0</license>2 Write the C++ ReaderInside your


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Write the C++ ReaderInside your package’ssrcdirectory, create a new file calledsimple_bag_reader.cppand paste the following code into


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it.#include<chrono>#include<functional>#include<iostream>#include<memory>#include<string>#include"rclcpp/rclcpp.hpp"#include"rclcpp/serialization.hpp"#include"rosbag2_transport/reader_writer_factory.hpp"#include"turtlesim/msg/pose.hpp"usingnamespacestd::chrono_literals;classPlaybackNode:publicrclcpp::Node{public:PlaybackNode(conststd::string&bag_filename):Node("playback_node"){publisher_=this->create_publisher<turtlesim::msg::Pose>("/turtle1/pose",10);timer_=this->create_wall_timer(100ms,[this](){returnthis->timer_callback();});rosbag2_storage::StorageOptionsstorage_options;storage_options.uri=bag_filename;reader_=rosbag2_transport::ReaderWriterFactory::make_reader(storage_options);reader_->open(storage_options);}private:voidtimer_callback(){while(reader_->has_next()){rosbag2_storage::SerializedBagMessageSharedPtrmsg=reader_->read_next();if(msg->topic_name!="/turtle1/pose"){continue;}rclcpp::SerializedMessageserialized_msg(*msg->serialized_data);turtlesim::msg::Pose::SharedPtrros_msg=std::make_shared<turtles


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;turtlesim::msg::Pose::SharedPtrros_msg=std::make_shared<turtlesim::msg::Pose>();serialization_.deserialize_message(&serialized_msg,ros_msg.get());publisher_->publish(*ros_msg);std::cout<<'('<<ros_msg->x<<",


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"<<ros_msg->y<<")\n";break;}}rclcpp::TimerBase::SharedPtrtimer_;rclcpp::Publisher<turtlesim::msg::Pose>::SharedPtrpublisher_;rclcpp::Serialization<turtlesim::msg::Pose>serialization_;std::unique_ptr<rosbag2_cpp::Reader>reader_;};intmain(intargc,char**argv){if(argc!=2){std::cerr<<"Usage: "<<argv[0]<<" <bag>"<<std::endl;return1;}rclcpp::init(argc,argv);rclcpp::spin(std::make_shared<PlaybackNode>(argv[1]));rclcpp::shutdown();return0;}2.1 Examine the codeThe#includestatements at the top are the package dependencies. Note the inclusion of headers from therosbag2_transportpackage for the functions and structures necessary to work with bag files.The next line creates the node which will read from the bag file and play back the data.classPlaybackNode:publicrclcpp::NodeNow, we can create a timer callback which will run at 10 hz. Our goal is to replay one message to the/turtle1/posetopic each time the callback is run. Note the constructor takes a path to the bag file as a


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is run. Note the constructor takes a path to the bag file as a parameter.public:PlaybackNode(conststd::string&bag_filename):Node("playback_node"){publisher_=this->create_publisher<turtlesim::msg::Pose>("/turtle1/pose",10);timer_=this->create_wall_timer(100ms,[this](){returnthis->timer_callback();});We also open the bag in the constructor. Therosbag2_transport::ReaderWriterFactoryis a class that can construct a compressed or uncompressed reader or writer based on the storage options.rosbag2_storage::StorageOptionsstorage_options;storage_options.uri=bag_filename;reader_=rosbag2_transport::ReaderWriterFactory::make_reader(storage_options);reader_->open(storage_options);Now, inside our timer callback, we loop through messages in the bag until we read a message recorded from our desired topic. Note that the serialized message has timestamp metadata in addition to the topic


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message has timestamp metadata in addition to the topic name.voidtimer_callback(){while(reader_->has_next()){rosbag2_storage::SerializedBagMessageSharedPtrmsg=reader_->read_next();if(msg->topic_name!="/turtle1/pose"){continue;}We then construct anrclcpp::SerializedMessageobject from the serialized data we just read. Additionally, we need to create a ROS 2 deserialized message which will hold the result of our deserialization. Then, we can pass both these objects to therclcpp::Serialization::deserialize_messagemethod.rclcpp::SerializedMessageserialized_msg(*msg->serialized_data);turtlesim::msg::Pose::SharedPtrros_msg=std::make_shared<turtlesim::msg::Pose>();serialization_.deserialize_message(&serialized_msg,ros_msg.get());Finally, we publish the deserialized message and print out the xy coordinate to the terminal. We also break out of the loop so that we publish the next message during the next timer calback.publisher_->publish(*ros_msg);std::cout<<'('<<ros_msg->x<<", "<<ros_msg->y<<")\n";break;}We must also


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"<<ros_msg->y<<")\n";break;}We must also declare the private variables used throughout the node.rclcpp::TimerBase::SharedPtrtimer_;rclcpp::Publisher<turtlesim::msg::Pose>::SharedPtrpublisher_;rclcpp::Serialization<turtlesim::msg::Pose>serialization_;std::unique_ptr<rosbag2_cpp::Reader>reader_;};Lastly, we create the main function which will check that the user passes an argument for the bag file path and spins our node.intmain(intargc,char**argv){if(argc!=2){std::cerr<<"Usage: "<<argv[0]<<" <bag>"<<std::endl;return1;}rclcpp::init(argc,argv);rclcpp::spin(std::make_shared<PlaybackNode>(argv[1]));rclcpp::shutdown();return0;}2.2 Add executableNow open theCMakeLists.txtfile.Below the dependencies block, which containsfind_package(rosbag2_transportREQUIRED), add the following lines of code.add_executable(simple_bag_reader src/simple_bag_reader.cpp)ament_target_dependencies(simple_bag_reader rclcpp rosbag2_transport turtlesim)install(TARGETSsimple_bag_readerDESTINATION lib/${PROJECT_NAME})3 Build and runNavigate


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lib/${PROJECT_NAME})3 Build and runNavigate back to the root of your workspace and build your new package.LinuxmacOSWindowscolcon build --packages-select bag_reading_cppcolcon build --packages-select bag_reading_cppcolcon build --merge-install --packages-select bag_reading_cppNext, source the setup files.LinuxmacOSWindowssource install/setup.bashsource install/setup.bashcall install/setup.batNow, run the script. Make sure to replace/path/to/subsetwith the path to yoursubsetbag.ros2 run bag_reading_cpp simple_bag_reader /path/to/subsetYou should see the (x, y) coordinates of the turtle printed to the console.SummaryYou created a C++ executable that reads data from a bag. You then compiled and ran the executable which printed some information from the bag to the console.


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Code Examples:

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ros2 pkg create -

build

type ament_cmake -

license Apache

2.0 bag_reading_cpp -

dependencies rclcpp rosbag2_transport turtlesim

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<description>C++bagreadingtutorial</description><maintaineremail="you@email.com">YourName</maintainer><license>Apache

2.0</license>

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#include<chrono>#include<functional>#include<iostream>#include<memory>#include<string>#include"rclcpp/rclcpp.hpp"#include"rclcpp/serialization.hpp"#include"rosbag2_transport/reader_writer_factory.hpp"#include"turtlesim/msg/pose.hpp"usingnamespacestd::chrono_literals;classPlaybackNode:publicrclcpp::Node{public:PlaybackNode(conststd::string&bag_filename):Node("playback_node"){publisher_=this

>create_publisher<turtlesim::msg::Pose>("/turtle1/pose",10);timer_=this

>create_wall_timer(100ms,[this](){returnthis


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>create_wall_timer(100ms,[this](){returnthis

>timer_callback();});rosbag2_storage::StorageOptionsstorage_options;storage_options.uri=bag_filename;reader_=rosbag2_transport::ReaderWriterFactory::make_reader(storage_options);reader_

>open(storage_options);}private:voidtimer_callback(){while(reader_

>has_next()){rosbag2_storage::SerializedBagMessageSharedPtrmsg=reader_

>read_next();if(msg

>topic_name!="/turtle1/pose"){continue;}rclcpp::SerializedMessageserialized_msg(

msg

>serialized_data);turtlesim::msg::Pose::SharedPtrros_msg=std::make_shared<turtlesim::msg::Pose>();serialization_.deserialize_message(&serialized_msg,ros_msg.get());publisher_

>publish(

ros_msg);std::cout<<'('<<ros_msg

>x<<", "<<ros_msg

>y<<")\n";break;}}rclcpp::TimerBase::SharedPtrtimer_;rclcpp::Publisher<turtlesim::msg::Pose>::SharedPtrpublisher_;rclcpp::Serialization<turtlesim::msg::Pose>serialization_;std::unique_ptr<rosbag2_cpp::Reader>reader_;};intmain(intargc,char*


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argv){if(argc!=2){std::cerr<<"Usage: "<<argv[0]<<" <bag>"<<std::endl;return1;}rclcpp::init(argc,argv);rclcpp::spin(std::make_shared<PlaybackNode>(argv[1]));rclcpp::shutdown();return0;}

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classPlaybackNode:publicrclcpp::Node

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public:PlaybackNode(conststd::string&bag_filename):Node("playback_node"){publisher_=this

>create_publisher<turtlesim::msg::Pose>("/turtle1/pose",10);timer_=this

>create_wall_timer(100ms,[this](){returnthis

>timer_callback();});

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rosbag2_storage::StorageOptionsstorage_options;storage_options.uri=bag_filename;reader_=rosbag2_transport::ReaderWriterFactory::make_reader(storage_options);reader_

>open(storage_options);

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voidtimer_callback(){while(reader_

>has_next()){rosbag2_storage::SerializedBagMessageSharedPtrmsg=reader_

>read_next();if(msg

>topic_name!="/turtle1/pose"){continue;}

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rclcpp::SerializedMessageserialized_msg(

msg


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rclcpp::SerializedMessageserialized_msg(

msg

>serialized_data);turtlesim::msg::Pose::SharedPtrros_msg=std::make_shared<turtlesim::msg::Pose>();serialization_.deserialize_message(&serialized_msg,ros_msg.get());

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publisher_

>publish(

ros_msg);std::cout<<'('<<ros_msg

>x<<", "<<ros_msg

>y<<")\n";break;}

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rclcpp::TimerBase::SharedPtrtimer_;rclcpp::Publisher<turtlesim::msg::Pose>::SharedPtrpublisher_;rclcpp::Serialization<turtlesim::msg::Pose>serialization_;std::unique_ptr<rosbag2_cpp::Reader>reader_;};

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intmain(intargc,char*

argv){if(argc!=2){std::cerr<<"Usage: "<<argv[0]<<" <bag>"<<std::endl;return1;}rclcpp::init(argc,argv);rclcpp::spin(std::make_shared<PlaybackNode>(argv[1]));rclcpp::shutdown();return0;}

Language: unknown add_executable(simple_bag_reader src/simple_bag_reader.cpp)ament_target_dependencies(simple_bag_reader rclcpp rosbag2_transport turtlesim)install(TARGETSsimple_bag_readerDESTINATION lib/${PROJECT_NAME})

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colcon build -

packages

select bag_reading_cpp

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colcon build -

packages

select bag_reading_cpp

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colcon build -

merge

install -

packages

select bag_reading_cpp

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source install/setup.bash

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source install/setup.bash

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call install/setup.bat

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Title: Composition

URL: https://docs.ros.org/en/jazzy/Concepts/Intermediate/About

Composition.html

Section: Installation

--------------------------------------------------------------------------------


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CompositionTable of ContentsROS 1 - Nodes vs. NodeletsROS 2 - Unified APIWriting a ComponentUsing ComponentsPractical applicationROS 1 - Nodes vs. NodeletsIn ROS 1 you can write your code either as aROS nodeor as aROS nodelet. ROS 1 nodes are compiled into executables. ROS 1 nodelets on the other hand are compiled into a shared library which is then loaded at runtime by a container process.ROS 2 - Unified APIIn ROS 2 the recommended way of writing your code is similar to a nodelet - we call it aComponent. This makes it easy to add common concepts to existing code, like alife cycle. Having different APIs, which was the biggest drawback in ROS 1, is avoided in ROS 2 since both approaches use the same API.NoteIt is still possible to use the node-like style of “writing your own main” but for the common case it is not recommended.By making the process layout a deploy-time decision the user can choose between:running multiple nodes in separate processes with the benefits of process/fault isolation as well as


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with the benefits of process/fault isolation as well as easier debugging of individual nodes andrunning multiple nodes in a single process with the lower overhead and optionally more efficient communication (seeIntra Process Communication).Additionallyros2launchcan be used to automate these actions through specialized launch actions.Writing a ComponentSince a component is only built into a shared library, it doesn’t have amainfunction (seeTalker source code). A component is commonly a subclass ofrclcpp::Node. Since it is not in control of the thread, it shouldn’t perform any long running or blocking tasks in its constructor. Instead, it can use timers to get periodic notifications. Additionally, it can create publishers, subscriptions, servers, and clients.An important aspect of making such a class a component is that the class registers itself using macros from the packagerclcpp_components(see the last line in the source code). This makes the component discoverable when its library is being loaded into a


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component discoverable when its library is being loaded into a running process - it acts as kind of an entry point.Additionally, once a component is created, it must be registered with the index to be discoverable by the tooling.add_library(talker_componentSHAREDsrc/talker_component.cpp)rclcpp_components_register_nodes(talker_component"composition::Talker")# To register multiple components in the same shared library, use multiple calls# rclcpp_components_register_nodes(talker_component "composition::Talker2")For an example,check out this tutorialNoteIn order for the component_container to be able to find desired components, it must be executed or launched from a shell that has sourced the corresponding workspace.Using ComponentsThecompositionpackage contains a couple of different approaches on how to use components. The three most common ones are:Start a (generic container process) and call the ROS serviceload_nodeoffered by the container. The ROS service will then load the component specified by the passed


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service will then load the component specified by the passed package name and library name and start executing it within the running process. Instead of calling the ROS service programmatically you can also use acommand line toolto invoke the ROS service with the passed command line argumentsCreate acustom executablecontaining multiple nodes which are known at compile time. This approach requires that each component has a header file (which is not strictly needed for the first case).Create a launch file and useros2launchto create a container process with multiple components loaded.Practical applicationTry theComposition demos.


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Code Examples:

Language: unknown add_library(talker_componentSHAREDsrc/talker_component.cpp)rclcpp_components_register_nodes(talker_component"composition::Talker")# To register multiple components in the same shared library, use multiple calls# rclcpp_components_register_nodes(talker_component "composition::Talker2")


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Title: Installation (Windows)

URL: https://docs.ros.org/en/jazzy/Tutorials/Advanced/Simulators/Webots/Installation

Windows.html

Section: Installation

--------------------------------------------------------------------------------


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Installation (Windows)Goal:Install thewebots_ros2package and run simulation examples on Windows.Tutorial level:AdvancedTime:10 minutesContentsBackgroundPrerequisitesMultiple Installations of WebotsTasks1 Install WSL22 Install ROS 2 in WSL3 Installwebots_ros24 Launch thewebots_ros2_universal_robotexample5 RViz troubleshootingBackgroundThewebots_ros2package provides an interface between ROS 2 and Webots. It includes several sub-packages, includingwebots_ros2_driver, which allows ROS nodes to communicate with Webots. Other sub-packages are mainly examples that show multiple possible implementations using the interface. In this tutorial, you are going to install the package and learn how to run one of these examples.PrerequisitesIt is recommended to understand basic ROS principles covered in the beginnerTutorials. In particular,Creating a workspaceandCreating a packageare useful prerequisites.Webots is a prerequisite to use thewebots_ros2package. You can follow theinstallation procedureorbuild it from


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You can follow theinstallation procedureorbuild it from sources.Alternatively, you can also letwebots_ros2download Webots automatically. This option appears when you launch an example of the package and no Webots installation is found.Multiple Installations of WebotsIf you have more than one installation of Webots, ROS 2 will look for Webots at the following locations (in this order):If theROS2_WEBOTS_HOMEenvironment variable is set, ROS 2 will use the Webots in this folder, regardless of its version.If theWEBOTS_HOMEenvironment variable is set, ROS 2 will use the Webots in this folder, regardless of its version.If none of the previous points is set/installed ROS 2 will look for Webots in the default installation paths for a compatible version:C:\ProgramFiles\Webots.If Webots couldn’t be found,webots_ros2will show a window and offer automatic Webots installation of the last compatible version.Tasks1 Install WSL2On Windows, WSL (Windows Subsystem for Linux) improves the user experience with ROS 2 compared


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for Linux) improves the user experience with ROS 2 compared to native Windows installation, as it runs on a Linux platform. Install WSL with an Ubuntu version which is compatible with your ROS distribution and upgrade to WSL2 following theofficial Microsoft tutorial.2 Install ROS 2 in WSLInstall ROS 2 inside Ubuntu WSL, followingUbuntu (deb packages).3 Installwebots_ros2You can then either installwebots_ros2from the official released package, or install it from the latest up-to-date sources fromGithub.The following commands must be run inside the WSL environment.Installwebots_ros2distributed packageInstallwebots_ros2from sourcesRun the following command in a terminal.sudo apt-get install ros-jazzy-webots-ros2Create a ROS 2 workspace with itssrcdirectory.mkdir -p ~/ros2_ws/srcSource the ROS 2 environment.source /opt/ros/jazzy/setup.bashRetrieve the sources from Github.cd ~/ros2_wsgit clone --recurse-submodules https://github.com/cyberbotics/webots_ros2.git src/webots_ros2Install the package


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src/webots_ros2Install the package dependencies.sudo apt install python3-pip python3-rosdep python3-colcon-common-extensionssudo rosdep init && rosdep updaterosdep install --from-paths src --ignore-src --rosdistro jazzyBuild the package usingcolcon.colcon buildSource this workspace.source install/local_setup.bash4 Launch thewebots_ros2_universal_robotexampleWSL doesn’t support hardware acceleration (yet). Therefore, Webots should be started on Windows, while the ROS part is running inside WSL. To do so, the following commands must be run inside the WSL environment.First source the ROS 2 environment, if not done already.source /opt/ros/jazzy/setup.bashSetting theWEBOTS_HOMEenvironment variable allows you to start a specific Webots installation (e.g.C:\ProgramFiles\Webots). Use the mount point “/mnt” to refer to a path on native Windows.export WEBOTS_HOME=/mnt/c/Program\ Files/WebotsIf installed from sources, source your ROS 2 workspace, if not done already.cd ~/ros2_wssource install/local_setup.bashUse the


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done already.cd ~/ros2_wssource install/local_setup.bashUse the ROS 2 launch command to start demo packages (e.g.webots_ros2_universal_robot).ros2 launch webots_ros2_universal_robot multirobot_launch.py5 RViz troubleshootingWith recent versions of WSL2, RViz should work out of the box.You can check if it works correctly by running any example that uses RViz, for example:sudo apt install ros-jazzy-slam-toolboxros2 launch webots_ros2_tiago robot_launch.py rviz:=true slam:=trueThe Tiago robot can be controlled using:ros2 run teleop_twist_keyboard teleop_twist_keyboardWith older WSL versions, RViz2 may not work directly, as no display is available. To use RViz, you can either upgrade WSL or enable X11 forwarding.Upgrade WSLEnable X11 forwardingIn a Windows shell:wsl --updateFor older versions of WSL, the following steps can be followed:InstallVcXsrv.Launch VcXsrv. You can leave most of the parameters default, except theExtrasettingspage, where you must setClipboard,PrimarySelectionandDisableaccesscontroland


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must setClipboard,PrimarySelectionandDisableaccesscontroland unsetNativeopengl.You can save the configuration for future launches.Click onFinish, you will see that the X11 server is running in the icon tray.In your WSL environment, export theDISPLAYvariable.export DISPLAY=$(ip route list default | awk '{print }'):0You can add this to your.bashrc, so that it is set for every future WSL environment.echo "export DISPLAY=$(ip route list default | awk '{print }'):0" >> ~/.bashrc


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Code Examples:

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sudo apt

get install ros

jazzy

webots

ros2

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mkdir

p ~/ros2_ws/src

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source /opt/ros/jazzy/setup.bash

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cd ~/ros2_wsgit clone -

recurse

submodules https://github.com/cyberbotics/webots_ros2.git src/webots_ros2

Language: unknown sudo apt install python3-pip python3-rosdep python3-colcon-common-extensionssudo rosdep init && rosdep updaterosdep install --from-paths src --ignore-src --rosdistro jazzy

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colcon build

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source install/local_setup.bash

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source /opt/ros/jazzy/setup.bash

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export WEBOTS_HOME=/mnt/c/Program\ Files/Webots

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cd ~/ros2_wssource install/local_setup.bash

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ros2 launch webots_ros2_universal_robot multirobot_launch.py

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ros2 run teleop_twist_keyboard teleop_twist_keyboard

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wsl -

update

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Title: Iron Irwini (iron)

URL: https://docs.ros.org/en/jazzy/Releases/Release-Iron-Irwini.html

Section: Installation

--------------------------------------------------------------------------------

Iron Irwini (iron)Table of ContentsSupported PlatformsInstallationNew features in this ROS 2 releaseAPI documentation generation for Python packagesService introspectionPre and post set parameter callback supportImproved discovery optionsMatched eventsExternal configuration services of loggersType Description DistributionDynamic Types and Dynamic Messageslaunchlaunch_roslaunch_testingrclcpprclpyros2paramros2topicChanges since the Humble releaseChange to the default console logging file flushing behaviorament_cmake_autoament_cmake_noseament_lintcamera_info_managerlaunchlaunch_roslaunch_xmllaunch_yamlmessage_filtersrcl_yaml_param_parserrclcpprclpyrcutilsrmwrmw_dds_commonros2topicrosbag2rosidl_pythonrviztracetoolsKnown IssuesRelease TimelineDevelopment progressIron Irwiniis the ninth release of ROS 2.


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What follows is highlights of the important changes and features in Iron Irwini since the last release.

For a list of all of the changes since Humble, see thelong form changelog.Supported PlatformsIron Irwini is primarily supported on the following platforms:Tier 1 platforms:Ubuntu 22.04 (Jammy):amd64andarm64Windows 10 (Visual Studio 2019):amd64Tier 2 platforms:RHEL 9:amd64Tier 3 platforms:macOS:amd64Debian Bullseye:amd64For more information about RMW implementations, compiler / interpreter versions, and system dependency versions seeREP 2000.InstallationInstall Iron IrwiniNew features in this ROS 2 releaseAPI documentation generation for Python packagesROS 2 has had automatic API documentation for C++ packages for several releases, e.g.https://docs.ros.org/en/rolling/p/rclcpp/generated/index.html.


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Iron adds automatic API documentation for Python packages as well, e.g.https://docs.ros.org/en/rolling/p/rclpy/rclpy.html.Seehttps://github.com/ros-infrastructure/rosdoc2/pull/28,https://github.com/ros-infrastructure/rosdoc2/pull/49,https://github.com/ros-infrastructure/rosdoc2/pull/51, andhttps://github.com/ros-infrastructure/rosdoc2/pull/52for more details.Service introspectionIt is now possible to enable service introspection on a per-service basis.

When enabled, this allows users to see the metadata associated with the client requesting a service, the server accepting the request, the server sending the response, and the client accepting the response.

Optionally, the contents of the client/server requests/responses can also be introspected.

All of the information is published on a hidden topic generated from the name of the service.


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So if the service is called/myservice, then the information will be published on/myservice/_service_event.Note that this functionality is disabled by default; to enable it, users must callconfigure_introspectionafter creating a server client or server.

There are examples showing how to do this inhttps://github.com/ros2/demos/tree/iron/demo_nodes_cpp/src/services(C++) andhttps://github.com/ros2/demos/blob/iron/demo_nodes_py/demo_nodes_py/services/introspection.py(Python).SeeREP 2012and the tracking bug athttps://github.com/ros2/ros2/issues/1285for more information.Pre and post set parameter callback supportFor many releases now, users could register a callback to be called when parameters on a node were changed by an external entity (likeros2paramset).

This callback could examine the changed parameter types and values, and reject the whole lot if one of them didn’t meet certain criteria.


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However, it could not modify the parameter list, nor should it have modified state (since there might be other callbacks after the set one that would reject the parameters).This release adds in a pre and post callback.


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The callbacks are called in this order:The “pre” set parameter callback, which can modify the list of parameters based on arbitrary criteria.The “set” parameter callback, which cannot modify the list and should only accept or reject the parameters based on their type and value (this is the existing callback).The “post” set parameter callback, which can make state changes based on parameters and is only called if the previous two callbacks are successful.There are examples of this in action inhttps://github.com/ros2/demos/blob/iron/demo_nodes_cpp/src/parameters/set_parameters_callback.cpp(C++) andhttps://github.com/ros2/demos/blob/iron/demo_nodes_py/demo_nodes_py/parameters/set_parameters_callback.py(Python).Seehttps://github.com/ros2/rclcpp/pull/1947,https://github.com/ros2/rclpy/pull/966, andhttps://github.com/ros2/demos/pull/565for more information.Improved discovery optionsPrevious ROS 2 versions offered limited discovery options.


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The default behavior for DDS based RMW implementations was to discover any node reachable via multicast.

It could be limited to the same machine by setting the environment variableROS_LOCALHOST_ONLY, but any additional configuration required configuring the middleware directly, usually via middleware specific XML files and environment variables.


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ROS Iron retains the same default discovery behavior, but deprecatesROS_LOCALHOST_ONLYin favor of more granular options.ROS_AUTOMATIC_DISCOVERY_RANGEcontrols how far ROS nodes will try to discover each other. Valid options are:SUBNET- The default, and for DDS-based middlewares it will discover any node reachable via multicast.LOCALHOST- Will only try to discover other nodes on the same machine.OFF- Will not attempt to discover any other nodes automatically, even on the same machine.SYSTEM_DEFAULT- Will not change any discovery settings.  This is useful when you already have custom settings for your middleware and don’t want ROS to change them.ROS_STATIC_PEERS- A semicolon (;) separated list of addresses that ROS should try to discover nodes on.  This allows the user to connect to nodes on specifc machines (as long as their discovery range is not set toOFF).For example, you might have several robots withROS_AUTOMATIC_DISCOVERY_RANGEset toLOCALHOSTso they don’t communicate with each other.


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When you want to connect RViz to one of them, you add it’s address toROS_STATIC_PEERSin your terminal.

Now you can use ROS 2 CLI and visualization tools to interact with the robot.Seehttps://github.com/ros2/ros2/issues/1359for more information about this feature.Matched eventsIn addition to QoS events, matched events can be generated when any publisher and subscription establishes or drops the connection between them.


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Users can provide each publisher and subscription with callback functions that are triggered by matched events and handle them in a way they see fit, similar to how messages received on a topic are handled.publisher: this event happens when it finds a subscription which matches the topic and has compatible QoS or a connected subscription is disconnected.subscription: this event happens when it finds a publisher which matches the topic and has compatible QoS or a connected publisher is disconnected.See the tracking issue athttps://github.com/ros2/rmw/issues/330for more information.C++ Demo of Matched Events:https://github.com/ros2/demos/blob/iron/demo_nodes_cpp/src/events/matched_event_detect.cppPython Demo of Matched Events:https://github.com/ros2/demos/blob/iron/demo_nodes_py/demo_nodes_py/events/matched_event_detect.pyExternal configuration services of loggersIt is now possible to configure node logger levels remotely via a service.


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When theenable_logger_serviceoption is enabled during node creation, theset_logger_levelsandget_logger_levelsservices will be available.Be advised that theenable_logger_serviceoption is disabled by default, so the user needs to enable this option on node creation.Seehttps://github.com/ros2/ros2/issues/1355for more information.Type Description DistributionIt is now possible to communicate information about the types of ROS 2 messages, so that systems with potentially-different types of the same name may discover their compatibility more transparently.

This umbrella of capabilities, which is defined by a subset of REP-2011: Evolving Message Types, has had many parts land in Iron.First, the introduction of the new packagetype_description_interfacesprovides a common way to communicate the descriptions of ROS 2 communication interface types (msg, srv, action).Next, a method to hash type descriptions has been decided on, the ROS Interface Hashing Standard (RIHS) - starting with the first version RIHS01.


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RIHS hashes are automatically calculated for all compiled ROS types at build time, and baked into the generated code so that they can be inspected.

These hashes are also communicated automatically during discovery, and included inrmw_topic_endpoint_info_tfor graph introspection queries such asget_publishers_info_by_topic.The fullTypeDescriptiondata structure, as well as the raw source text (such as.msgfile) that were used to generate it are now baked in by default to the message libraries, so they can be used bytypesupportor end users.

While we expect this data to provide value to most users, some users trying to minimize bytes in their install space can disable the feature when building ROS 2 Core by defining the CMake variableROSIDL_GENERATOR_C_DISABLE_TYPE_DESCRIPTION_CODEGEN.Finally, the new servicetype_description_interfaces/GetTypeDescription.srvhas been defined to allow nodes, on encountering an unknown RIHS type hash, to request the full definition from the node advertising that type.


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Work is in progress to provide this feature natively in ROS 2 Nodes, as an optional switch on node construction.

This feature has not yet shipped, but is expected to be backported into Iron sometime mid-2023.

Meanwhile, user nodes could implement this service indepedently, using the stable service interface.SeeREP 2011for the design proposal.

SeeType Description Distributionfor tracking development on the feature set.Dynamic Types and Dynamic MessagesAlongside the type description distribution feature mentioned above, is the ability to construct and access dynamically created types at runtime (i.e., dynamic types).


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This feature is available in Iron for Fast DDS andrcl, with newrmwinterfaces for supporting the taking of messages as dynamic messages (i.e., messages built from or following the structure of the dynamic type).First, utilities were introduced intorosidlto aid in the construction and manipulation of type descriptions.Next, therosidl_dynamic_typesupportpackage was written and provides a middleware-agnostic interface to construct dynamic types and dynamic messages at runtime.

Types can be constructed at runtime either programmatically, or by parsing atype_description_interfaces/TypeDescriptionmessage.NoteTherosidl_dynamic_typesupportlibrary requires serialization support libraries to implement the middleware-specific dynamic type behavior.

A serialization support library for Fast DDS was implemented inrosidl_dynamic_typesupport_fastrtps.


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Ideally more middlewares will implement support libraries, expanding the number of middlewares that support this feature.Finally, to support the use of dynamic types and dynamic messages, new methods were added tormwandrclthat support:The ability to obtain of middleware-specific serialization supportThe ability to construct message type support at runtime that use dynamic typesThe ability to take dynamic messages using dynamic typeWork is in progress to enable the use of dynamic types to create subscriptions in the client libraries (see therclcppissue below), though it is uncertain when the feature will land or be backported.

This will allow users to subscribe to topics whose type descriptions are only known at runtime.

In the meantime, users may write their own subscriptions that subscribe to dynamic types by using the newrmwandrclfeatures introduced as part of this feature set.SeeREP 2011for the design proposal.


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SeeDynamic Subscriptionfor tracking development on the feature set, withrclcppneeding the bulk of the work.launchPythonExpressionnow supports importing modulesIt is now possible to have a launchPythonExpressionimport modules before performing the evaluation.

This can be useful for pulling in additional functionality to be used when evaluating an expression.Seehttps://github.com/ros2/launch/pull/655for more information.ReadyToTestcan be called from an event handlerIt is now possible to register an event handler that usesReadyToTestin its output.


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This can be useful for doing things like downloading an asset before allowing a test to run.Seehttps://github.com/ros2/launch/pull/665for more information.Addition ofAnySubstitutionandAllSubstitutionIt is now possible to specify a substitution to happen when any of the input arguments are true (AnySubstitution), or when all of the input arguments are true (AllSubstitution).Seehttps://github.com/ros2/launch/pull/649for more details.Addition of a new substitution to get the launch logging directoryIt is now possible to use a substitution calledLaunchLogDirto get the current logging directory for launch.Seehttps://github.com/ros2/launch/pull/652for more details.launch_rosAdd aLifecycleTransitionactionIt is now possible to send a transition signal to a lifecycle node via the newLifeCycleTransitionaction.Seehttps://github.com/ros2/launch_ros/pull/317for more information.Add aSetROSLogDiractionIt is now possible to configure the directory used for logging via


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is now possible to configure the directory used for logging via theSetROSLogDiraction.Seehttps://github.com/ros2/launch_ros/pull/325for more information.Ability to specify a condition to aComposableNodeIt is now possible to specify a condition that must be satisfied in order for aComposableNodeto be inserted into its container.Seehttps://github.com/ros2/launch_ros/pull/311for more information.launch_testingTimeout for process startup is now configurablePrior to this release, theReadyToTestaction would wait exactly 15 seconds for processes to start up.


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If the processes took longer than that, they would fail.

There is now a new decorator calledready_to_test_action_timeoutthat allows the user to configure the amount of time to wait for the processes to start.Seehttps://github.com/ros2/launch/pull/625for more information.rclcppAddition of a new paradigm for handlingNodeandLifecycleNodeTheNodeandLifecycleNodeclasses are related in that they both provide the same base set of methods (thoughLifecycleNodeprovides additional methods as well).

Due to various implementation considerations, they are not derived from a common base class.This has led to some trouble for downstream code that wants to accept either aNodeor aLifecycleNode.

One solution is to have two method signatures, one that accepts aNodeand one that accepts aLifecycleNode.


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The other, recommended solution is to have a method that accepts the “node interfaces” pointers that can be accessed from both classes, e.g.voiddo_thing(rclcpp::node_interfaces::NodeGraphInterfacegraph){fprintf(stderr,"Doing a thing\n");}voiddo_thing(rclcpp::Node::SharedPtrnode){do_thing(node->get_node_graph_interface());}voiddo_thing(rclcpp::LifecycleNode::SharedPtrnode){do_thing(node->get_node_graph_interface());}This works, but can get a bit unwieldy when many node interfaces are needed.

To make this a bit better, there is now a newNodeInterfacesclass that can be constructed to contain the interfaces, and then be used by other code.There are examples on how to use this inhttps://github.com/ros2/rclcpp/pull/2041.Introduction of a new executor type: the Events ExecutorTheEventsExecutorfrom iRobot has been merged into the mainrclcppcodebase.

This alternative executor implementation uses event-driven callbacks from the middleware implementations to fire callbacks at therclcpplayer.


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In addition to the push-based model, theEventsExecutoralso moves timer management into a separate thread, which can allow for more accurate results and lower overhead, especially with many timers.TheEventsExecutorhas a substantial set of documentation and use-in-practice that make it a strong candidate for inclusion in therclcppcodebase.

For information about the initial implementation proposal as well as performance benchmarks, seehttps://discourse.ros.org/t/ros2-middleware-change-proposal/15863.


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For more information about the design, see the design PR:https://github.com/ros2/design/pull/305.Since the API is the same, trying theEventsExecutoris as straightforward as replacing your current Executor implementation (eg.SingleThreadedExecutor):#include<rclcpp/experimental/executors/events_executor/events_executor.hpp>usingrclcpp::experimental::executors::EventsExecutor;EventsExecutorexecutor;executor.add_node(node);executor.spin();NoteTheEventsExecutorandTimersManagerare currently in theexperimentalnamespace.

While it has been used as a standalone implementation for some timehttps://github.com/irobot-ros/events-executor, it was decided to use theexperimentalnamespace for at least one release to give latitude in changing the API within the release.


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Use caution as it will not be subject to the same API/ABI guarantees that the non-experimental code has.rclpyAbility to wait for another node to join the graphIt is now possible to wait for another node to join the network graph with code like the following:node.wait_for_node('/fully_qualified_node_name')Seehttps://github.com/ros2/rclpy/pull/930for more information.Implementation ofAsyncParameterClientrclpynow has anAsyncParameterClientclass, bringing it to feature parity withrclcpp.


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This class is used to perform parameter actions on a remote node without blocking the calling node.Seehttps://github.com/ros2/rclpy/pull/959for more information and examples.Subscription callbacks can now optionally get the message infoIt is now possible to register for a subscription callback with a function signature that takes both the message, and the message info, like:defmsg_info_cb(msg,msg_info):print('Message info:',msg_info)node.create_subscription(msg_type=std_msgs.msg.String,topic='/chatter',qos_profile=10,callback=msg_info_cb)The message info structure contains various pieces of information like the sequence number of the message, the source and received timestamps, and the GID of the publisher.Seehttps://github.com/ros2/rclpy/pull/922for more information.Optional argument that hides assertions for messages classAll message classes now include a new optional argument that allows the hiding of assertions for each field type from the message.


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In order to enable the assertions for development/debugging purposes, you are given two choices:Define the environment variableROS_PYTHON_CHECK_FIELDSto'1'(this would affect all the messages in your project):importosfromstd_msgs.msgimportStringos.environ['ROS_PYTHON_CHECK_FIELDS']='1'new_message=String()Select the specific behavior for a single message by explicitly defining the new argument in the constructor:fromstd_msgs.msgimportStringnew_message=String(check_fields=True)Seehttps://github.com/ros2/rosidl_python/pull/194for more information.ros2paramOption to timeout when waiting for a node withros2paramIt is now possible to have the variousros2paramcommands timeout by passing--timeoutto the command.Seehttps://github.com/ros2/ros2cli/pull/802for more information.Deprecated options were removed--output-dirand--printoptions withdumpcommand have been removed.Seehttps://github.com/ros2/ros2cli/pull/824for more information.ros2topicnowas keyword


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more information.ros2topicnowas keyword forbuiltin_interfaces.msg.Timeandautoforstd_msgs.msg.Headerros2topicpubnow allows to set abuiltin_interfaces.msg.Timemessage to the current time via thenowkeyword.


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Similarly, astd_msg.msg.Headermessage will be automatically generated when passed the keywordauto.

This behavior matches that of ROS 1’srostopic(http://wiki.ros.org/ROS/YAMLCommandLine#Headers.2Ftimestamps)Related PR:ros2/ros2cli#749ros2topicpubcan be configured to wait a maximum amount of timeThe commandros2topicpub-w1will wait for at least that number of subscribers before publishing a message.


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This release adds in a--max-wait-timeoption so that the command will only wait a maximum amount of time before quitting if no subscribers are seen.Seehttps://github.com/ros2/ros2cli/pull/800for more information.ros2topicechocan be configured to wait a maximum amount of timeThe commandros2topicechonow accepts a--timeoutoption, which controls the maximum amount of time that the command will wait for a publication to happen.Seehttps://github.com/ros2/ros2cli/pull/792for more information.Deprecated option was removed--lost-messagesoption withechocommand has been removed.Seehttps://github.com/ros2/ros2cli/pull/824for more information.Changes since the Humble releaseChange to the default console logging file flushing behaviorThis specifically applies to the defaultspdlogbased logging backend in ROS 2, implemented inrcl_logging_spdlog.


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Log file flushing was changed to flush every time an “error” log message is used, e.g. eachRCLCPP_ERROR()call, and also periodically every five seconds.Previously,spdlogwas used without configuring anything other than creating the sink for logging to a file.We tested the change and did not find that the CPU overhead was significant, even on machines with slow disks (e.g. sd cards).


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However, if this change is causing you problems, you can get the old behavior by setting theRCL_LOGGING_SPDLOG_EXPERIMENTAL_OLD_FLUSHING_BEHAVIOR=1environment variable.Later we would like to have support for a full configuration file (see:https://github.com/ros2/rcl_logging/issues/92), giving you more flexibility in how the logging is done, but that is work that is only planned right now.Therefore,this environment variable should be considered experimental and subject to removal without deprecation in the future, when we add config file support for thercl_logging_spdloglogging backend.See this pull request for more details about the change:https://github.com/ros2/rcl_logging/pull/95ament_cmake_autoInclude dependencies are now marked as SYSTEMWhen usingament_auto_add_executableorament_auto_add_library, dependencies are now automatically added asSYSTEM.


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This means that warnings in the header files of the dependencies will not be reported.Seehttps://github.com/ament/ament_cmake/pull/385for more details.ament_cmake_nosePackage has been deprecated and removedThe Pythonnosepackage has long been deprecated.


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Since none of the open-source packages currently released into Humble or Rolling currently depend on it, this release deprecates and removes the ament wrapper around it.Seehttps://github.com/ament/ament_cmake/pull/415for more information.ament_lintFiles can be excluded from linter checksCertain files can now be excluded from linter checks by setting theAMENT_LINT_AUTO_FILE_EXCLUDECMake variable before callingament_lint_auto_find_test_dependencies.Seehttps://github.com/ament/ament_lint/pull/386for more information.camera_info_managerLifecycle node supportcamera_info_managernow supports lifecycle nodes in additional to regular ROS 2 nodes.Seehttps://github.com/ros-perception/image_common/pull/190for more information.launchLaunchConfigurationEqualsandLaunchConfigurationNotEqualsare deprecatedTheLaunchConfigurationEqualsandLaunchConfigurationNotEqualsconditions are deprecated, and will be removed in a future release.


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Instead, the more universalEqualsandNotEqualssubstitutions should be used instead.Seehttps://github.com/ros2/launch/pull/649for more details.launch_rosRenamed classes which usedRosin the name to useROSin line with PEP8Classes that were changed:launch_ros.actions.RosTimer->launch_ros.actions.ROSTimerlaunch_ros.actions.PushRosNamespace->launch.actions.PushROSNamespaceThe old class names are still there, but will be deprecated.Seehttps://github.com/ros2/launch_ros/pull/326for more information.launch_xmlExposeemulate_ttyto XML frontendIt has been possible for several releases to have thelaunchPython code use pseudo-terminals to emulate a TTY (and hence do things like print colors).


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That functionality is now available in the XML frontend by passing theemulate_ttyargument to an executable command.Seehttps://github.com/ros2/launch/pull/669for more information.Exposesigterm_timeoutandsigkill_timeoutto XML frontendIt has been possible for several releases to configure the maximum timeout value for the SIGTERM and SIGKILL signals in thelaunchPython code.

That functionality is now available in the XML frontend by passing thesigterm_timeoutorsigkill_timeoutargument to an executable command.Seehttps://github.com/ros2/launch/pull/667for more information.launch_yamlExposeemulate_ttyto YAML frontendIt has been possible for several releases to have thelaunchPython code use pseudo-terminals to emulate a TTY (and hence do things like print colors).


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That functionality is now available in the YAML frontend by passing theemulate_ttyargument to an executable command.Seehttps://github.com/ros2/launch/pull/669for more information.Exposesigterm_timeoutandsigkill_timeoutto YAML frontendIt has been possible for several releases to configure the maximum timeout value for the SIGTERM and SIGKILL signals in thelaunchPython code.

That functionality is now available in the YAML frontend by passing thesigterm_timeoutorsigkill_timeoutargument to an executable command.Seehttps://github.com/ros2/launch/pull/667for more information.message_filtersNew approximate time policyAdd in a simpler approximate time policy calledApproximateEpsilonTime.

This time policy works likeExactTime, but allows timestamps being within a epsilon tolerance.

Seehttps://github.com/ros2/message_filters/pull/84for more information.New upsampling time policyAdds in a new time policy calledLatestTime.

It can synchronize up to 9 messages by their rates with upsampling via zero-order-hold.


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Seehttps://github.com/ros2/message_filters/pull/73for more information.rcl_yaml_param_parserSupport for YAML!!strsyntax in parameter filesIt is now possible to force the ROS parameter file parser to interpret a field as a string using the YAML!!strsyntax.

Seehttps://github.com/ros2/rcl/pull/999for more information.rclcppDefault number of threads for multi-threaded executor has been changedIf the user doesn’t specify otherwise, the default number of threads for the multi-threaded executor will be set to the number of CPUs on the machine.


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If the underlying OS doesn’t support getting this information, it will be set to 2.Seehttps://github.com/ros2/rclcpp/pull/2032for more information.A warning is now printed when QoS of KEEP_LAST is specified with a depth of 0Specifying a QoS of KEEP_LAST with a depth of 0 is a nonsensical arrangement, since the entity wouldn’t be able to send or receive any data.rclcppwill now print a warning if this combination is specified, but will still continue on and let the underlying middleware choose a sane value (generally a depth of 1).Seehttps://github.com/ros2/rclcpp/pull/2048for more information.DeprecatedRCLCPP_SCOPE_EXITmacro was removedIn Humble, the macroRCLCPP_SCOPE_EXITwas deprecated in favor ofRCPPUTILS_SCOPE_EXIT.

In Iron, theRCLCPP_SCOPE_EXITmacro has been completely removed.rclpyDefault number of threads for multi-threaded executor has been changedIf the user doesn’t specify otherwise, the default number of threads for the multi-threaded executor will be set to the number of CPUs on the machine.


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If the underlying OS doesn’t support getting this information, it will be set to 2.Seehttps://github.com/ros2/rclpy/pull/1031for more information.A warning is now printed when QoS of KEEP_LAST is specified with a depth of 0Specifying a QoS of KEEP_LAST with a depth of 0 is a nonsensical arrangement, since the entity wouldn’t be able to send or receive any data.rclpywill now print a warning if this combination is specified, but will still continue on and let the underlying middleware choose a sane value (generally a depth of 1).Seehttps://github.com/ros2/rclpy/pull/1048for more information.Time and Duration no longer raise exception when compared to another typeIt is now possible to comparerclpy.time.Timeandrclpy.duration.Durationto other types without getting exceptions.

If the types are not comparable, the comparison returnsFalse.


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If the types are not comparable, the comparison returnsFalse.

Note that this is a behavior change from previous releases.print(Nonein[rclpy.time.Time(),rclpy.duration.Duration()])# Prints "False" instead of raising TypeErrorSeehttps://github.com/ros2/rclpy/pull/1007for more information.rcutilsImprove the performance of message loggingThe code used to output a log message whenRCUTILS_LOG_*orRCLCPP_*was optimized to reduce overhead.

These log messages should now be more efficient, though they should still not be called at high rates.

Seehttps://github.com/ros2/rcutils/pull/381,https://github.com/ros2/rcutils/pull/372,https://github.com/ros2/rcutils/pull/369, andhttps://github.com/ros2/rcutils/pull/367for more information.Deprecatedrcutils/get_env.hheader was removedIn Humble, the headerrcutils/get_env.hwas deprecated in favor ofrcutils/env.h.


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In Iron, thercutils/get_env.hheader been completely removed.rmwChange the GID storage to 16 bytesThe GID in the RMW layer is meant to be a globally unique identifier for writers in the ROS graph.

Previously, this was erroneously set to 24 bytes based on a bug in an old RMW implementation.

But thermwpackage should define this, and all of the implementations should conform to that.


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Thus, this release defines it as 16 bytes (the DDS standard), and changes all implementations to use that definition.Seehttps://github.com/ros2/rmw/pull/345and the (closed, but relevant)https://github.com/ros2/rmw/pull/328for more information.rmw_dds_commonChange the GID storage to 16 bytesAlong with the change in thermwlayer, change the message that sends out GID information to 16 bytes.Seehttps://github.com/ros2/rmw_dds_common/pull/68for more information.ros2topicros2topichz/bw/pubnow respectuse_sim_timeWhen running under simulation, the ROS 2 ecosystem generally gets its time from a/clocktopic published by the simulator (rather than using the system clock).

ROS 2 nodes are typically informed of this change by setting theuse_sim_timeparameter on the node.


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The node created by theros2topiccommandshz,bw, andpubnow respect that parameter and will use simulation time as appropriate.Seehttps://github.com/ros2/ros2cli/pull/754for more information.rosbag2Change default bag file type tomcapPrior to this release, by default rosbag2 would record data into sqlite3 databases.

During testing, it was found that in many cases this was not performant enough and lacked certain features desirable for offline processing.To meet these needs, a new bag format (influenced by the original ROS 1 bag file format) calledmcapwas developed.

This bag file format has many of the missing features from the sqlite3 file format, and should also be more performant.This release switches to usingmcapas the default file format for writing new bags.

The oldsqlite3file format is still available and can be selected by the user for writing if desired.


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This release also allows playing back data from either thesqlite3file format or themcapfile format.Seehttps://github.com/ros2/rosbag2/pull/1160for more information.Store message definitions in bag files with SQLite3 pluginNow we support saving message definitions to thesqlite3database file in the same format

as we are saving it to themcapfile.

This opens an opportunity for third-party tools to have

the ability to deserialize rosbag2 files without having the correct version of all the original

.msg files on the machine that is decoding the bag file recorded withsqlite3plugin.Seehttps://github.com/ros2/rosbag2/issues/782andhttps://github.com/ros2/rosbag2/pull/1293for

more information.New playback and recording controlsSeveral pull requests have been added to enhance the user’s control over playback of bags.

Pull request960adds the ability to play bag for

a specified number of seconds.

And pull request1005allows to play bag until specified timestamp.

Another pull request1007adds the ability to


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Another pull request1007adds the ability to

stop playback remotely via service call.

Stop will unpause player if it was in pause mode, stop playback and force exit from play() method if it was in progress.Managing recording via service callsThere are new options to control the recording process from remote nodes.

The pull request1131adds the ability to pause and

resume recording via service calls.

Another pull request1115adds the ability to split

bags during recording by sending service call.Filtering topics via regular expression during playbackUsers sometimes need to replay only a subset of topics from recorded bags and the following two pull request

adds such capability.

Pull request1034adds a new option--topics-regexthat allows filtering topics via regular expressions.

The--topics-regexoption accepts multiple regular expressions separated by space.

And pull request1046adds the ability to exclude some


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And pull request1046adds the ability to exclude some

certain topics from being replayed by providing regular expression in a new--exclude(and-x) option.Allow plugins to register their own CLI verb argumentsPull request1209adds the ability forrosbag2plugins to

register an optional Python entrypoint providing plugin-specific CLI argument values.

As a result the command line option--storage-preset-profileforros2bagrecordverb will have

different valid options depending on the underlying storage plugin.Other changesThe pull request1038adds the ability to record

any key/value pair in ‘custom’ field in metadata.yaml file.

It is useful when users need to save some hardware specific id or coordinates where the recording was captured.

And pull request1180adds an option to change the underlying

node name for the recorder via providing the new command line--node-nameoption.

This option might be used for creating remote distributed recording with multiple rosbag2 recorder instances.


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It provides the ability to send service calls for managing the recording process to the dedicated

rosbag2 recorder instances.rosidl_pythonModification of content of__slots__attributeSo far, the attribute__slots__from the python message classes, have been used as the member that contains the field names of the message.

In Iron, this attribute no longer contains only the field names from the message structure, but the field names for all the class members.

Therefore, users shouldn’t rely on this attribute to retrieve the field names information, instead, users should retrieve it using the methodget_field_and_field_types().Seehttps://github.com/ros2/rosidl_python/pull/194for more information.rvizMap display can now be shown as binaryThe RViz map display can now display the map as binary, with a settable threshold.


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This is useful in some cases to inspect maps or in combination with planners that have a settable threshold.Seehttps://github.com/ros2/rviz/pull/846for more information.Camera display plugin respects the ROI in the CameraInfo messageThe CameraDisplay plugin now honors the region-of-interest (ROI) settings in the CameraInfo message, if it is provided.

This accounts for the fact that an image was cropped by the camera driver to reduce the bandwidth.Seehttps://github.com/ros2/rviz/pull/864for more information.Binary STL files from SOLIDWORKS work without errorA change was made to the STL loader such that it accepts binary STL files from SOLIDWORKS that have the word “solid” in them.

This technically violates the STL specification, but is common enough that a special case is added to handle these files.Seehttps://github.com/ros2/rviz/pull/917for more information.tracetoolsTracing instrumentation is now included by default on LinuxThe ROS 2 core has had tracing instrumentation for a while now.


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However, it was compiled out by default.

To get the instrumentation, the LTTng tracer had to be manually installed before rebuilding ROS 2 from source.

In Iron, the tracing instrumentation and tracepoints are included by default; the LTTng tracer is therefore now a ROS 2 dependency.Note that this only applies to Linux.Seehttps://github.com/ros2/ros2_tracing/pull/31andhttps://github.com/ros2/ros2/issues/1177for more information.

Seethis how-to guide to remove the instrumentation (or add the instrumentation with Humble and older).New tracepoints forrclcppintra-process are addedNew tracepoints have been added to supportrclcppintra-process communication.

This allows the evaluation of the time between the message publishing and the callback start in intra-process communication.Seehttps://github.com/ros2/ros2_tracing/pull/30andhttps://github.com/ros2/rclcpp/pull/2091for more information.Known Issuesrmw_connextddsdoes not work with Windows Binary release packages.


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RTI is not longer distributingRTIConnextDDS6.0.1which was used by the packaging jobs to create the binaries for Windows.

Instead they now distributeRTIConnextDDS6.1.0which is ABI incompatible with the generated binaries.


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The solution is to rely on source builds of ROS 2 andrmw_connextddson Windows.sros2on Windows requires users to downgrade thecryptographypython module tocryptography==38.0.4as discussedhere.ros1_bridgedoes not work with ROS Noetic packages fromupstream Ubuntu.  The suggested workaround is to build ROS Noetic from sources, then build theros1_bridgeusing that.Release TimelineNovember, 2022 - Platform decisionsREP 2000 is updated with the target platforms and major dependency versions.By January, 2023 - Rolling platform shiftBuild farm is updated with the new platform versions and dependency versions for Iron Irwini (if necessary).Mon. April 10, 2023 - Alpha + RMW freezePreliminary testing and stabilization of ROS Base[1]packages, and API and feature freeze for RMW provider packages.Mon. April 17, 2023 - FreezeAPI and feature freeze for ROS Base[1]packages in Rolling Ridley.

Only bug fix releases should be made after this point.


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Only bug fix releases should be made after this point.

New packages can be released independently.Mon. April 24, 2023 - BranchBranch from Rolling Ridley.rosdistrois reopened for Rolling PRs for ROS Base[1]packages.

Iron development shifts fromros-rolling-*packages toros-iron-*packages.Mon. May 1, 2023 - BetaUpdated releases of ROS Desktop[2]packages available.

Call for general testing.Mon. May 15, 2023 - Release CandidateRelease Candidate packages are built.

Updated releases of ROS Desktop[2]packages available.Thu. May 18, 2023 - Distro FreezeFreeze rosdistro.


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No PRs for Iron on therosdistrorepo will be merged (reopens after the release announcement).Tue. May 23, 2023 - General AvailabilityRelease announcement.rosdistrois reopened for Iron PRs.[1](1,2,3)Theros_basevariant is described inREP 2001 (ros-base).[2](1,2)Thedesktopvariant is described inREP 2001 (desktop-variants).Development progressFor progress on the development and release of Iron Irwini, seethe tracking GitHub issue.For the broad process followed by Iron Irwini, see theprocess description page.

Code Examples:

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voiddo_thing(rclcpp::node_interfaces::NodeGraphInterfacegraph){fprintf(stderr,"Doing a thing\n");}voiddo_thing(rclcpp::Node::SharedPtrnode){do_thing(node->get_node_graph_interface());}voiddo_thing(rclcpp::LifecycleNode::SharedPtrnode){do_thing(node->get_node_graph_interface());}

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#include<rclcpp/experimental/executors/events_executor/events_executor.hpp>usingrclcpp::experimental::executors::EventsExecutor;EventsExecutorexecutor;executor.add_node(node);executor.spin();

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node.wait_for_node('/fully_qualified_node_name')

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defmsg_info_cb(msg,msg_info):print('Message info:',msg_info)node.create_subscription(msg_type=std_msgs.msg.String,topic='/chatter',qos_profile=10,callback=msg_info_cb)

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importosfromstd_msgs.msgimportStringos.environ['ROS_PYTHON_CHECK_FIELDS']='1'new_message=String()

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fromstd_msgs.msgimportStringnew_message=String(check_fields=True)

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print(Nonein[rclpy.time.Time(),rclpy.duration.Duration()])# Prints "False" instead of raising TypeError


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Title: ROSCon Talks

URL: https://docs.ros.org/en/jazzy/The

ROS2

Project/ROSCon

Content.html

Section: Installation

--------------------------------------------------------------------------------


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ROSCon TalksThe followingROSContalks have been given on ROS 2 and provide information about the workings of ROS 2 and various demos:20242023202220212020201920182017201620152014TitleLinksSaving lives sooner: leveraging ROS 2 for end-stage kidney diseasevideoThe State of ROS: Beneath the KiltvideoRMW Zenoh: An alternative middleware for ROS 2videoThe State of the InfrastructurevideoIn the Spot Light: Controlling Spot with ROS 2videoPanel: Successfully Deploying ROS 2 Into ProductionvideoExecutors in ROS 2videoThe Multithreaded Events ExecutorvideoAccelerating Robotics Development with Embedded LinuxvideoReal-time ROS 2 applications made easy with cactus-rtvideoSomething big is coming in ros2_control with ROS 2 Jazzy!videoHow to Use a Dragon’s Algorithm: Integrating Drake with MoveIt 2videoMore than just an actuator – Better ROS support for a manipulatorvideoA ROS 2 Package for Dynamic Collision Avoidance Based On On-Board Prox…videoGSplines: Generalized Splines for Motion Optimization and Smooth


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Generalized Splines for Motion Optimization and Smooth Colli…videoKOI and EBIKE: Optimizing Kinematics Structures and IK Parameters by C…videoA Fuzzy-Matching Trajectory Cache for MoveIt 2videoiceoryx2: A Journey to Becoming a First-Class RMW AlternativevideoJ1939 CAN Device Support in ROS 2videoIntegration of ETSI ITS messages for V2X communication in ROSvideoUnlocking the Potential of the Nicla Vision Board with ROS / ROS 2videoWe Hate Serial: Experiments using CAN-FD as a transport layer for micro-ROSvideoROS 2 Gateway to Professional 24/7 ApplicationsvideoOptimizing Gazebo simulation: Challenges in building complex simulatio…videoBuilding Humanoid Robots: Mastering Design and Control with ROSvideoURDF Creator: Bridging the Gap Between Learning and Applying ROS 2videoEnabling ROS 2 Benchmarks: A Medical Robotics PerspectivevideoScenario Execution for Robotics: A generic, backend-agnostic library f…video⚡Lightning Talks⚡videoMobile Robotics Scale-up Leveraging ROSvideoThe State of GazebovideoThe State of


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Leveraging ROSvideoThe State of GazebovideoThe State of Open-RMFvideoMigrating a Mobile Manipulator to ROS 2videoJazzy Jalisco rosbag2 updates and new featuresvideo⚡ Lightning Talks ⚡videoHow is my robot? - On the state of ROS DiagnosticsvideoAccelerating the CI/CD-to-robot cycle by 10x for 1/10th the costvideor2s: A Terminal User Interface for ROS 2videoThe Lighthouse project: from Virtual Reality to Onboard Positioning for RoboticsvideoBuilding system packages with colcon in your own compact buildfarmvideorobot_folders – your favorite meta-workspace managervideoScaling Open-RMF from a Test Bench → Lab → Controlled Environment → ProductionvideoOpen-RMF and the Challenge of Resource Contention in Large-Scale Robot FleetsvideoROS in Large-scale Factory AutomationvideoEnhancing Robotic Communication & Scalability with Topic Keys in ROS 2videoROS 2 (and DDS) Compatible Selective Large Data TransfervideoAgent-based AI Framework for ROS 2videoros2ai Next-Gen ROS 2 CLI empowered by OpenAIvideoBuilding Foundation


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Next-Gen ROS 2 CLI empowered by OpenAIvideoBuilding Foundation Model-powered Robots with ROS: A SurveyvideoScenic for ROS: A Probabilistic Programming Language for World Modelin…videoSoftware Platform Design and SDK Development for ROS 2-based LG AI Com…videoBeluga AMCL: A modern Monte Carlo Localization implementation for ROSvideoRadar Tracks for Path Planning in the presence of Dynamic ObstaclesvideoOn Use of Nav2 DockingvideoROS robot health monitoring: the Bonsai approachvideoNavigation à la carte: choose navigation profile and strategy as you govideoTitleLinksBuilding the iRobot® Create® 3 Robot: Challenges and Solutions for ROS…videoThe State of ROS: From the Iron Age to the Jazzy AgevideoROS 2 Types On-the-wire: Type Descriptions and Hashing in Iron and onwardsvideoReleasing a new ROS 2 distributionvideoPanel: Getting Involved with ROS as an OrganizationvideoLicensing of ROS Packages: Changes to package.xml and new tool supportvideoSDFormat: A robot description format in constant


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supportvideoSDFormat: A robot description format in constant evolutionvideoRepeatable Reproducible Accessible ROS Development via Dev ContainersvideoColcon-in-container: say bye to the “it builds on my machine” syndromevideoROS with Kubernetes/KubeEdgevideoA New ROS 2 Driver for FANUC Robots Utilizing Ethernet/IPvideoA ROS 2 Package for Online Cobots Impedance ModulationvideoReal-Time Motion Control in ROS: Uniting HAL with Tormach’s ZA6 RobotvideoA safe and secure ROS 2 multi-domain architecture for AMD embedded het…videoOptimizing MoveIt - Costs, Constraints and BettermentsvideoLeveraging a functional approach for more testable and maintainable ROS codevideoReal-time Data-flow extension for ROS 2videoAn Integrated Modelling and Testing Architecture for ROS NodesvideoBreaking Bots: Robustness Testing for ROSvideoRclex on Nerves: a bare minimum runtime platform for ROS 2 nodes in ElixirvideoOn Use of Nav2 MPPI ControllervideoBidirectional navigation with Nav2videoAutonomous Robot Navigation and Localization


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with Nav2videoAutonomous Robot Navigation and Localization on 3D Mesh Surfaces in ROSvideoROS 2 powered Android VHAL.video⚡Lightning Talks⚡videoUp, Up, and Away: Adventures in Aerial RoboticsvideoNEXUS: A ROS 2 framework for orchestrating industrial robotic lines and cellsvideoAerostack2: A framework for developing Multi-Robot Aerial SystemsvideoCreating scalable customized robotic platformsvideoCreate® 3 Robot in the Classroom: Teaching ROS 2 to UndergraduatesvideoROS 2 On the Browser with WebAssembly for Teaching Roboticsvideo⚡Lightning Talks⚡videoOctomap is dead: long life BonxaivideoParameters Should be BoringvideoUsing Reference System to evaluate features and performance in a stand…videoRosLibRust: Why we built it, why you might want to use it…videoLeveraging Secure Discovery Server in ROS 2videoSimulate your World: A deeper look at extending GazebovideoSimulate robots like never before with Open 3D EnginevideoSimulation of Highly Dynamic Omnidirectional Robots in Isaac SimvideoAn Integrated


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Dynamic Omnidirectional Robots in Isaac SimvideoAn Integrated Distributed Simulation Environment weaving by Hakoniwa and mROS 2videoMulti-drone simulation with deep q-learningvideoSupporting Robotic Deliberation: The Deliberation Working Group and To…videoFlexBE - The Flexible Behavior Engine: Collaborative Autonomy in ROS 2videoSkiROS2 - A skill-based Robot Control Platform for ROSvideoMastering your ROS system state with Petri netsvideoSpatialVision: Bringing Popping-Out RViz to Life with AirPodsvideoWhat is Robotics Observability? Scaling ROS from Prototype to ProductionvideoSurviving the Flood (of Rosbags)videoImproving Your Application’s Algorithms and Optimizing Performance Usi…videoROSBag2NuScenes: Share the Bags, Spread the Joy - Autonomous Vehicle R…videoPostgreSQL / PostGIS to ROS 2 Bridge for Spatial DatavideoEfficient data recording and replaying in ROS 2videoDeveloping on ROS while ScalingvideoTitleLinksPanel: The ROS 2 Developer ExperiencevideoWearable ROS: Development of wearable robot system


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ROS: Development of wearable robot system using ROS 2videoBuilding ROS 2 enabled Android apps with C++videoDistributed Robotics Simulator with Unreal EnginevideoTools and processes for improving the certifiability of ROS 2videoFailover ROS Framework : Consensus-based node redundancyvideoROS 2 and Gazebo Integration Best PracticesvideoChain-Aware ROS Evaluation Tool (CARET)videoROS 2 network monitoringvideoHow custom tasks are defined, assigned, and executed in Open-RMFvideoA practitioner’s guide to ros2_controlvideoZenoh: How to Make ROS 2 Work at any Scale and Integrate with AnythingvideoA case study in optics manufacturing with MoveIt2 and ros2_controlvideo20/20 Robot Vision - How to setup cameras in ROS 1 & ROS 2 using camera_aravisvideoFilter your ROS 2 contentvideoEvolving Message Types, and Other Interfaces, Over TimevideoMigrating from ROS1 to ROS 2 - choosing the right bridgevideoOn Use of Nav2 Smac PlannersvideoBazel and ROS 2 – building large scale safety applicationsvideoNative Rust components for


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large scale safety applicationsvideoNative Rust components for ROS 2videoThe ROS build farm and you: How ROS packages you release become binary packages.videomROS 2: yet another runtime environment onto embedded devicesvideoROS 2 & Edge Impulse: Embedded AI in robotics applicationsvideomicro-ROS goes Automotive: supporting AUTOSAR-based microcontrollersvideoAn open architecture for Hardware Acceleration in ROS 2videoROS 2 and the Crazyflie: Aerial swarms and Autonomy with a tiny flying robotvideoA Raspberry Pi image with ROS 2 + RT and a customizable image buildervideoTitleLinksSMACC2videorospy2: Convert a ROS1 node to ROS2 by changing only one line of codevideoHello Robot: Democratizing Mobile Manipulation with ROSvideoChallenges for ROS2 in Autonomous Agricultural ApplicationsvideoESP32 microcontroller robot with Navigation 2 ROS 2 running in the CloudvideoMiddleware interconnecting ROS/ROS2 with the EtherCAT protocolvideoBuild and Manage Cloud-enhanced ROS Robots with AWS IoT Greengrass 2.0videoDriving


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ROS Robots with AWS IoT Greengrass 2.0videoDriving Autonomy in Mobile Robotics with ROS2 and PX4videoIntegrating ROS 2 with existing DDS networksvideoVIPER: Volatiles Investigating Polar Exploration RovervideoChronicles of Caching and Containerising CI for Nav2videoA New Way to Interact with PointCloud2 MessagesvideoROS 2 Grasp Library – Acceleration for 3D Object Pose Detectionvideoros2_control: The future of ros_controlvideoROS 2 Rolling RidleyvideoHybrid Planning - Enabling Reactive Manipulation with MoveIt 2videoApex.OS Cert: Taking ROS 2 from prototype into productionvideoMaking a robot ROS 2 powered - a case study using the UR manipulatorsvideoOnline Trajectory Generation and Admittance Control in ROS2videoVSCode, Docker and ROS2videoROS 2 Content Filtered TopicsvideoRosbag2 for Power UsersvideoWe Have Ignition: The Next Generation of Gazebo SimulationvideoUsing NVIDIA Isaac Sim For Synthetic Data Generation & ROS DevelopmentvideoAugmented Reality and RoboticsvideoModeling sensors for simulation of ROS


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Reality and RoboticsvideoModeling sensors for simulation of ROS applications in UnityvideoPanel: Simulation Tools for ROSvideoTitleLinksAccelerating Innovation with ROS: Lessons in HealthcarevideoPanel: Software Quality in RoboticsvideoPanel: ROS AgriculturevideoAchieving Generality and Robustness in Semantic SegmentationvideoNavigation2: The Next Generation Navigation SystemvideoCHAMP Quadruped ControlvideoKiwibot: ROS2 in the atoms delivery industryvideoMoveItWorldvideoOpenCVvideoROBOTIS TurtleBot3videoAutowarevideoDronecodevideoFIWAREvideoLightning Talks and Sponsor Videos 1videoLightning Talks and Sponsor Videos 2videoLightning Talks and Sponsor Videos 3videoLightning Talks and Sponsor Videos 4videoTitleLinksMigrating a large ROS 1 codebase to ROS 2slides/videoThe New Architecture of Gazebo Wrappers for ROS 2slides/videoMigrating to ROS 2: Advice from Rover Roboticsslides/videoROS 2 on VxWorksslides/videoNavigation2 Overviewslides/videoLaunch Testing - Launch description and integration testing for


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Testing - Launch description and integration testing for ros2slides/videoROS 2 for Consumer Robotics: : The iRobot use-caseslides/videoComposable Nodes in ROS2slides/videoConcurrency in ROS 1 and ROS 2slides/videoA True Zero-Copy RMW Implementation for ROS2slides/videoROS2 Real-Time Behavior: Static Memory AllocationvideoPackML2: State Machine Based System Programming, Monitoring and Control in ROS2slides/videoQuality of Service Policies for ROS2 Communicationsslides/videoMicro-ROS: ROS2 on Microcontrollersslides/videoROS2 on Large Scale Systems: Discovery ServervideoBridging Your Transitions from ROS 1 to ROS 2slides/videoMarkup Extensions for ROS 2 Launchslides/videoTitleLinksHands-on ROS 2: A Walkthroughslides/videoLaunch for ROS 2slides/videoTitleLinksThe ROS 2 vision for advancing the future of robotics developmentslides/videoTitleLinksROS 2 Update - summary of alpha releases, architectural overviewslides/videoEvaluating the resilience of ROS2 communication layerslides/videoTitleLinksState of ROS 2 -


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ROS2 communication layerslides/videoTitleLinksState of ROS 2 - demos and the technology behindslides/videoROS 2 on “small” embedded systemsslides/videoReal-time control in ROS and ROS 2slides/videoTitleLinksWhy you want to use ROS 2slides/videoNext-generation ROS: Building on DDSslides/video


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Title: Setting access controls

URL: https://docs.ros.org/en/jazzy/Tutorials/Advanced/Security/Access

Controls.html

Section: Installation

--------------------------------------------------------------------------------


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Setting access controlsGoal:Limit the topics a node can use.Tutorial level:AdvancedTime:20 minutesContentsBackgroundModifypermissions.xmlSign the policy fileLaunch the nodeUse the templatesBackgroundBefore proceeding ensure you have completed theSetting up securitytutorial.Permissions are quite flexible and can be used to control many behaviors within the ROS graph.For this tutorial, we demonstrate a policy which only allows publishing messages on the defaultchattertopic. This would prevent, for instance, remapping the topic when launching the listener or using the same security enclaves for another purpose.In order to enforce this policy, we need to update thepermissions.xmlfile and re-sign it before launching the node. This can be done by modifying the permissions file by hand, or by using XML templates.Modifypermissions.xmlBegin by making a backup of your permissions files, and openpermissions.xmlfor editing:cd~/sros2_demo/demo_keystore/enclaves/talker_listener/talker mvpermissions.p7spermissions.p7s~


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mvpermissions.p7spermissions.p7s~ mvpermissions.xmlpermissions.xml~ vipermissions.xmlWe will be modifying the<allow_rule>for<publish>and<subscribe>. The topics in this XML file use the DDS naming format, not the ROS name. Find details on mapping topic names between ROS and DDS in theTopic and Service Names design document.Paste the following XML content intopermission.xml, save the file and exit the text editor. This shows thechatterandrosoutROS topics renamed to the DDSrt/chatterandrt/rosouttopics,


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topics renamed to the DDSrt/chatterandrt/rosouttopics, respectively:<ddsxmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"xsi:noNamespaceSchemaLocation="http://www.omg.org/spec/DDS-SECURITY/20170901/omg_shared_ca_permissions.xsd"><permissions><grantname="/talker_listener/talker"><subject_name>CN=/talker_listener/talker</subject_name><validity><not_before>2021-06-01T16:57:53</not_before><not_after>2031-05-31T16:57:53</not_after></validity><allow_rule><domains><id>0</id></domains><publish><topics><topic>rt/chatter</topic><topic>rt/rosout</topic><topic>rt/parameter_events</topic><topic>*/talker/*</topic></topics></publish><subscribe><topics><topic>rt/parameter_events</topic><topic>*/talker/*</topic></topics></subscribe></allow_rule><allow_rule><domains><id>0</id></domains><publish><topics><topic>ros_discovery_info</topic></topics></publish><subscribe><topics><topic>ros_discovery_info</topic></topics></subscribe></allow_rule><default>DENY</default></grant></permissions></dds>This policy allows the talker to


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policy allows the talker to publish on thechatterand therosouttopics. It also allows includes publish and subscribe permissions needed for the talker node to manage parameters (a requirement for all nodes). Discovery permissions remain unchanged from the original template.Sign the policy fileThis next command creates the new S/MIME signed policy filepermissions.p7sfrom the updated XML filepermissions.xml. The file must be signed with the Permissions CA certificate,which requires access to the Permission CA private key. If the private key has been protected, additional steps may be required to unlock and use it accoring to your security plan.opensslsmime-sign-text-inpermissions.xml-outpermissions.p7s\--signerpermissions_ca.cert.pem\-inkey~/sros2_demo/demo_keystore/private/permissions_ca.key.pemLaunch the nodeWith the updated permissions in place, we can launch the node successfully using the same command used in prior tutorials:ros2rundemo_nodes_cpptalker--ros-args--enclave/talker_listener/talkerHowever,


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attempting to remap thechattertopic prevents the node from launching (note that this requires theROS_SECURITY_STRATEGYset toEnforce).ros2rundemo_nodes_cpptalker--ros-args--enclave/talker_listener/talker\--remapchatter:=not_chatterUse the templatesSecurity policies can quickly become confusing, so thesros2utilities add the ability to create policies from templates. Do this by using thesample policy fileprovided in thesros2repository. Let’s creates a policy for both thetalkerand thelistenerto only use thechattertopic.Begin by downloading thesros2repository with the sample policy files:gitclonehttps://github.com/ros2/sros2.git/tmp/sros2Then use thecreate_permissionverb while pointing to the sample policy to generate the XML permission files:ros2securitycreate_permissiondemo_keystore\/talker_listener/talker\/tmp/sros2/sros2/test/policies/sample.policy.xml ros2securitycreate_permissiondemo_keystore\/talker_listener/listener\/tmp/sros2/sros2/test/policies/sample.policy.xmlThese permission files allow nodes to


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permission files allow nodes to only publish or subscribe to thechattertopic, and enable communications required for parameters.In one terminal with security enabled as in previous security tutorials, run thetalkerdemo program:ros2rundemo_nodes_cpptalker--ros-args-e/talker_listener/talkerIn another terminal do the same with thelistenerprogram:ros2rundemo_nodes_pylistener--ros-args-e/talker_listener/listenerAt this point, yourtalkerandlistenernodes will be communicating securely using explicit access control lists. However, the following attempt for thelistenernode to subscribe to a topic other thanchatterwill fail:ros2rundemo_nodes_pylistener--ros-args--enclave/talker_listener/listener\--remapchatter:=not_chatter


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Code Examples:

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cd~/sros2_demo/demo_keystore/enclaves/talker_listener/talker

mvpermissions.p7spermissions.p7s~

mvpermissions.xmlpermissions.xml~

vipermissions.xml

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<ddsxmlns:xsi="http://www.w3.org/2001/XMLSchema

instance"xsi:noNamespaceSchemaLocation="http://www.omg.org/spec/DDS

SECURITY/20170901/omg_shared_ca_permissions.xsd"><permissions><grantname="/talker_listener/talker"><subject_name>CN=/talker_listener/talker</subject_name><validity><not_before>2021

06

01T16:57:53</not_before><not_after>2031

05

31T16:57:53</not_after></validity><allow_rule><domains><id>0</id></domains><publish><topics><topic>rt/chatter</topic><topic>rt/rosout</topic><topic>rt/parameter_events</topic><topic>

/talker/

</topic></topics></publish><subscribe><topics><topic>rt/parameter_events</topic><topic>

/talker/


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/talker/

</topic></topics></subscribe></allow_rule><allow_rule><domains><id>0</id></domains><publish><topics><topic>ros_discovery_info</topic></topics></publish><subscribe><topics><topic>ros_discovery_info</topic></topics></subscribe></allow_rule><default>DENY</default></grant></permissions></dds>

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opensslsmime

sign

text

inpermissions.xml

outpermissions.p7s\-

signerpermissions_ca.cert.pem\

inkey~/sros2_demo/demo_keystore/private/permissions_ca.key.pem

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ros2rundemo_nodes_cpptalker-

ros

args-

enclave/talker_listener/talker

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ros2rundemo_nodes_cpptalker-

ros

args-

enclave/talker_listener/talker\-

remapchatter:=not_chatter

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gitclonehttps://github.com/ros2/sros2.git/tmp/sros2

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ros2securitycreate_permissiondemo_keystore\/talker_listener/talker\/tmp/sros2/sros2/test/policies/sample.policy.xml


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ros2securitycreate_permissiondemo_keystore\/talker_listener/listener\/tmp/sros2/sros2/test/policies/sample.policy.xml

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ros2rundemo_nodes_cpptalker-

ros

args

e/talker_listener/talker

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ros2rundemo_nodes_pylistener-

ros

args

e/talker_listener/listener

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ros2rundemo_nodes_pylistener-

ros

args-

enclave/talker_listener/listener\-

remapchatter:=not_chatter


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Title: Monitoring for parameter changes (Python) URL: https://docs.ros.org/en/jazzy/Tutorials/Intermediate/Monitoring-For-Parameter-Changes-Python.html Section: Installation --------------------------------------------------------------------------------


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Monitoring for parameter changes (Python)Goal:Learn to use the ParameterEventHandler class to monitor and respond to parameter changes.Tutorial level:IntermediateTime:20 minutesContentsBackgroundPrerequisitesTasks1 Create a package2 Write the Python node3 Build and runSummaryRelated contentBackgroundOften a node needs to respond to changes to its own parameters or another node’s parameters. The ParameterEventHandler class makes it easy to listen for parameter changes so that your code can respond to them. This tutorial will show you how to use the Python version of the ParameterEventHandler class to monitor for changes to a node’s own parameters as well as changes to another node’s parameters.PrerequisitesBefore starting this tutorial, you should first complete the following tutorials:Understanding parametersUsing parameters in a class (Python)TasksIn this tutorial, you will create a new package to contain some sample code, write some Python code to use the ParameterEventHandler class, and test the


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code to use the ParameterEventHandler class, and test the resulting code.1 Create a packageFirst, open a new terminal andsource your ROS 2 installationso thatros2commands will work.Followthese instructionsto create a new workspace namedros2_ws.Recall that packages should be created in thesrcdirectory, not the root of the workspace. So, navigate intoros2_ws/srcand then create a new package there:ros2 pkg create --build-type ament_python --license Apache-2.0 python_parameter_event_handler --dependencies rclpyYour terminal will return a message verifying the creation of your packagepython_parameter_event_handlerand all its necessary files and folders.The--dependenciesargument will automatically add the necessary dependency lines topackage.xmlandCMakeLists.txt.1.1 Updatepackage.xmlBecause you used the--dependenciesoption during package creation, you don’t have to manually add dependencies topackage.xml. As always, though, make sure to add the description, maintainer email and name, and license information


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description, maintainer email and name, and license information topackage.xml.<description>Pythonparametereventsclienttutorial</description><maintaineremail="you@email.com">YourName</maintainer><license>Apache-2.0</license>2 Write the Python nodeInside theros2_ws/src/python_parameter_event_handler/python_parameter_event_handlerdirectory, create a new file calledparameter_event_handler.pyand paste the following code within:importrclpyimportrclpy.nodeimportrclpy.parameterfromrclpy.parameter_event_handlerimportParameterEventHandlerclassSampleNodeWithParameters(rclpy.node.Node):def__init__(self):super().__init__('node_with_parameters')self.declare_parameter('an_int_param',0)self.handler=ParameterEventHandler(self)self.callback_handle=self.handler.add_parameter_callback(parameter_name="an_int_param",node_name="node_with_parameters",callback=self.callback,)defcallback(self,p:rclpy.parameter.Parameter)->None:self.get_logger().info(f"Received an update to


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an update to parameter:{p.name}:{rclpy.parameter.parameter_value_to_python(p.value)}")defmain():rclpy.init()node=SampleNodeWithParameters()rclpy.spin(node)rclpy.shutdown()2.1 Examine the codeTheimportstatements at the top are used to import the package dependencies.importrclpyimportrclpy.nodeimportrclpy.parameterfromrclpy.parameter_event_handlerimportParameterEventHandlerThe next piece of code creates the classSampleNodeWithParametersand the constructor. The constructor for the class declares an integer parameteran_int_param,  with a default value of 0. Next, the code creates aParameterEventHandlerthat will be used to monitor changes to parameters.classSampleNodeWithParameters(rclpy.node.Node):def__init__(self):super().__init__('node_with_parameters')self.declare_parameter('an_int_param',0)self.handler=ParameterEventHandler(self)Finally, we add parameter callback and get callback handler for the new callback.NoteIt is very important to save the handle that is returned byadd_parameter_callback; otherwise,


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handle that is returned byadd_parameter_callback; otherwise, the callback will not be properly registered.self.callback_handle=self.handler.add_parameter_callback(parameter_name="an_int_param",node_name="node_with_parameters",callback=self.callback,)For the callback function, we use thecallbackmethod of theSampleNodeWithParametersclass.defcallback(self,p:rclpy.parameter.Parameter)->None:self.get_logger().info(f"Received an update to parameter:{p.name}:{rclpy.parameter.parameter_value_to_python(p.value)}")Following theSampleNodeWithParametersis a typicalmainfunction which initializes ROS, spins the sample node so that it can send and receive messages, and then shuts down after the user enters ^C at the console.defmain():rclpy.init()node=SampleNodeWithParameters()rclpy.spin(node)rclpy.shutdown()2.2 Add an entry pointOpen thesetup.pyfile. Again, match themaintainer,maintainer_email,descriptionandlicensefields to yourpackage.xml:maintainer='YourName',maintainer_email='you@email.com',description='Python


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parameter tutorial',license='Apache-2.0',Add the following line within theconsole_scriptsbrackets of theentry_pointsfield:entry_points={'console_scripts':['node_with_parameters = python_parameter_event_handler.parameter_event_handler:main',],},3 Build and runIt’s good practice to runrosdepin the root of your workspace (ros2_ws) to check for missing dependencies before building:LinuxmacOSWindowsrosdep install -i --from-path src --rosdistro $ROS_DISTRO -yrosdep only runs on Linux, so you can skip ahead to next step.rosdep only runs on Linux, so you can skip ahead to next step.Navigate back to the root of your workspace,ros2_ws, and build your new package:colcon build --packages-select python_parameter_event_handlerOpen a new terminal, navigate toros2_ws, and source the setup files:LinuxmacOSWindows. install/setup.bash. install/setup.bashcall install\setup.batNow run the node:ros2 run python_parameter_event_handler node_with_parametersThe node is now active and has a single parameter and will print a message


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now active and has a single parameter and will print a message whenever this parameter is updated. To test this, open up another terminal and source the ROS setup file as before and execute the following command:ros2 param set node_with_parameters an_int_param 43The terminal running the node will display a message similar to the following:[INFO] [1698483083.315084660] [node_with_parameters]: Received an update to parameter: an_int_param: 43The callback we set previously in the node has been invoked and has displayed the new updated value. You can now terminate the running parameter_event_handler sample using ^C in the terminal.3.1 Monitor changes to another node’s parametersYou can also use the ParameterEventHandler to monitor parameter changes to another node’s parameters. Let’s update the SampleNodeWithParameters class to monitor for changes to a parameter in another node. We will use the parameter_blackboard demo application to host a double parameter that we will monitor for updates.First update the


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parameter that we will monitor for updates.First update the constructor to add the following code after the existing code:def__init__(...):...self.callback_handle=self.handler.add_parameter_callback(parameter_name="a_double_param",node_name="parameter_blackboard",callback=self.callback,)In a terminal, navigate back to the root of your workspace,ros2_ws, and build your updated package as before:colcon build --packages-select python_parameter_event_handlerThen source the setup files:LinuxmacOSWindows. install/setup.bash. install/setup.bashcall install\setup.batNow, to test monitoring of remote parameters, first run the newly-built parameter_event_handler code:ros2 run python_parameter_event_handler node_with_parametersNext, from another teminal (with ROS initialized), run the parameter_blackboard demo application, as follows:ros2 run demo_nodes_cpp parameter_blackboardFinally, from a third terminal (with ROS initialized), let’s set a parameter on the parameter_blackboard node:ros2 param set


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set a parameter on the parameter_blackboard node:ros2 param set parameter_blackboard a_double_param 3.45Upon executing this command, you should see output in the parameter_event_handler window, indicating that the callback function was invoked upon the parameter update:[INFO] [1699821958.757770223] [node_with_parameters]: Received an update to parameter: a_double_param: 3.45SummaryYou created a node with a parameter and used the ParameterEventHandler class to set a callback to monitor changes to that parameter. You also used the same class to monitor changes to a remote node. The ParameterEventHandler is a convenient way to monitor for parameter changes so that you can then respond to the updated values.Related contentTo learn how to adapt ROS 1 parameter files for ROS 2, see theMigrating YAML parameter files from ROS 1 to ROS2tutorial.


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Code Examples:

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ros2 pkg create -

build

type ament_python -

license Apache

2.0 python_parameter_event_handler -

dependencies rclpy

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<description>Pythonparametereventsclienttutorial</description><maintaineremail="you@email.com">YourName</maintainer><license>Apache

2.0</license>


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2.0</license>

Language: unknown importrclpyimportrclpy.nodeimportrclpy.parameterfromrclpy.parameter_event_handlerimportParameterEventHandlerclassSampleNodeWithParameters(rclpy.node.Node):def__init__(self):super().__init__('node_with_parameters')self.declare_parameter('an_int_param',0)self.handler=ParameterEventHandler(self)self.callback_handle=self.handler.add_parameter_callback(parameter_name="an_int_param",node_name="node_with_parameters",callback=self.callback,)defcallback(self,p:rclpy.parameter.Parameter)->None:self.get_logger().info(f"Received an update to parameter:{p.name}:{rclpy.parameter.parameter_value_to_python(p.value)}")defmain():rclpy.init()node=SampleNodeWithParameters()rclpy.spin(node)rclpy.shutdown()

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importrclpyimportrclpy.nodeimportrclpy.parameterfromrclpy.parameter_event_handlerimportParameterEventHandler

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classSampleNodeWithParameters(rclpy.node.Node):def__init__(self):super().__init__('node_with_parameters')self.declare_parameter('an_int_param',0)self.handler=ParameterEventHandler(self)

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self.callback_handle=self.handler.add_parameter_callback(parameter_name="an_int_param",node_name="node_with_parameters",callback=self.callback,)

Language: unknown defcallback(self,p:rclpy.parameter.Parameter)->None:self.get_logger().info(f"Received an update to parameter:{p.name}:{rclpy.parameter.parameter_value_to_python(p.value)}")

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defmain():rclpy.init()node=SampleNodeWithParameters()rclpy.spin(node)rclpy.shutdown()

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maintainer='YourName',maintainer_email='you@email.com',description='Python parameter tutorial',license='Apache

2.0',

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entry_points={'console_scripts':['node_with_parameters = python_parameter_event_handler.parameter_event_handler:main',],},

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rosdep install

i -

from

path src -


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rosdep install

i -

from

path src -

rosdistro $ROS_DISTRO

y

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colcon build -

packages

select python_parameter_event_handler

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. install/setup.bash

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. install/setup.bash

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call install\setup.bat

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ros2 run python_parameter_event_handler node_with_parameters

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def__init__(...):...self.callback_handle=self.handler.add_parameter_callback(parameter_name="a_double_param",node_name="parameter_blackboard",callback=self.callback,)

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colcon build -

packages

select python_parameter_event_handler

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. install/setup.bash

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. install/setup.bash

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call install\setup.bat

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call install\setup.bat

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ros2 run python_parameter_event_handler node_with_parameters

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ros2 run demo_nodes_cpp parameter_blackboard

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Title: Usingturtlesim,ros2, andrqt

URL: https://docs.ros.org/en/jazzy/Tutorials/Beginner

CLI

Tools/Introducing

Turtlesim/Introducing

Turtlesim.html

Section: Installation

--------------------------------------------------------------------------------


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Usingturtlesim,ros2, andrqtGoal:Install and use the turtlesim package and rqt tools to prepare for upcoming tutorials.Tutorial level:BeginnerTime:15 minutesContentsBackgroundPrerequisitesTasks1 Install turtlesim2 Start turtlesim3 Use turtlesim4 Install rqt5 Use rqt6 Remapping7 Close turtlesimSummaryNext stepsRelated contentBackgroundTurtlesim is a lightweight simulator for learning ROS 2. It illustrates what ROS 2 does at the most basic level to give you an idea of what you will do with a real robot or a robot simulation later on.The ros2 tool is how the user manages, introspects, and interacts with a ROS system. It supports multiple commands that target different aspects of the system and its operation. One might use it to start a node, set a parameter, listen to a topic, and many more. The ros2 tool is part of the core ROS 2 installation.rqt is a graphical user interface (GUI) tool for ROS 2. Everything done in rqt can be done on the command line, but rqt provides a more user-friendly way to manipulate


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line, but rqt provides a more user-friendly way to manipulate ROS 2 elements.This tutorial touches upon core ROS 2 concepts, like nodes, topics, and services. All of these concepts will be elaborated on in later tutorials; for now, you will simply set up the tools and get a feel for them.PrerequisitesThe previous tutorial,Configuring environment, will show you how to set up your environment.Tasks1 Install turtlesimAs always, start by sourcing your setup files in a new terminal, as described in theprevious tutorial.Install the turtlesim package for your ROS 2 distro:LinuxmacOSWindowssudo apt updatesudo apt install ros-jazzy-turtlesimAs long as the archive you installed ROS 2 from contains theros_tutorialsrepository, you should already have turtlesim installed.As long as the archive you installed ROS 2 from contains theros_tutorialsrepository, you should already have turtlesim installed.Check that the package is installed:ros2 pkg executables turtlesimThe above command should return a list of turtlesim’s


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turtlesimThe above command should return a list of turtlesim’s executables:turtlesim draw_squareturtlesim mimicturtlesim turtle_teleop_keyturtlesim turtlesim_node2 Start turtlesimTo start turtlesim, enter the following command in your terminal:ros2 run turtlesim turtlesim_nodeThe simulator window should appear, with a random turtle in the center.In the terminal, under the command, you will see messages from the node:[INFO] [turtlesim]: Starting turtlesim with node name /turtlesim[INFO] [turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]There you can see the default turtle’s name and the coordinates where it spawns.3 Use turtlesimOpen a new terminal and source ROS 2 again.Now you will run a new node to control the turtle in the first node:ros2 run turtlesim turtle_teleop_keyAt this point you should have three windows open: a terminal runningturtlesim_node, a terminal runningturtle_teleop_keyand the turtlesim window. Arrange these windows so that you can see the turtlesim


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window. Arrange these windows so that you can see the turtlesim window, but also have the terminal runningturtle_teleop_keyactive so that you can control the turtle in turtlesim.Use the arrow keys on your keyboard to control the turtle. It will move around the screen, using its attached “pen” to draw the path it followed so far.NotePressing an arrow key will only cause the turtle to move a short distance and then stop. This is because, realistically, you wouldn’t want a robot to continue carrying on an instruction if, for example, the operator lost the connection to the robot.You can see the nodes, and their associated topics, services, and actions, using thelistsubcommands of the respective commands:ros2 node listros2 topic listros2 service listros2 action listYou will learn more about these concepts in the coming tutorials. Since the goal of this tutorial is only to get a general overview of turtlesim, you will use rqt to call some of the turtlesim services and interact withturtlesim_node.4 Install


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turtlesim services and interact withturtlesim_node.4 Install rqtOpen a new terminal to installrqtand its plugins:UbuntuRHELmacOSWindowssudo apt updatesudo apt install '~nros-jazzy-rqt*'sudo dnf install 'ros-jazzy-rqt*'The standard archive for installing ROS 2 on macOS containsrqtand its plugins, so you should already haverqtinstalled.The standard archive for installing ROS 2 on Windows containsrqtand its plugins, so you should already haverqtinstalled.To run rqt:rqt5 Use rqtWhen running rqt for the first time, the window will be blank. No worries; just selectPlugins>Services>Service Callerfrom the menu bar at the top.NoteIt may take some time for rqt to locate all the plugins. If you click onPluginsbut don’t seeServicesor any other options, you should close rqt and enter the commandrqt--force-discoverin your terminal.Use the refresh button to the left of theServicedropdown list to ensure all the services of your turtlesim node are available.Click on theServicedropdown list to see turtlesim’s services, and


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on theServicedropdown list to see turtlesim’s services, and select the/spawnservice.5.1 Try the spawn serviceLet’s use rqt to call the/spawnservice. You can guess from its name that/spawnwill create another turtle in the turtlesim window.Give the new turtle a unique name, liketurtle2, by double-clicking between the empty single quotes in theExpressioncolumn. You can see that this expression corresponds to the value ofnameand is of typestring.Next enter some valid coordinates at which to spawn the new turtle, likex=1.0andy=1.0.NoteIf you try to spawn a new turtle with the same name as an existing turtle, like the defaultturtle1, you will get an error message in the terminal runningturtlesim_node:[ERROR] [turtlesim]: A turtle named [turtle1] already existsTo spawnturtle2, you then need to call the service by clicking theCallbutton on the upper right side of the rqt window.If the service call was successful, you should see a new turtle (again with a random design) spawn at the coordinates you input forxandy.If


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a random design) spawn at the coordinates you input forxandy.If you refresh the service list in rqt, you will also see that now there are services related to the new turtle,/turtle2/..., in addition to/turtle1/....5.2 Try the set_pen serviceNow let’s giveturtle1a unique pen using the/set_penservice:The values forr,gandb, which are between 0 and 255, set the color of the penturtle1draws with, andwidthsets the thickness of the line.To haveturtle1draw with a distinct red line, change the value ofrto 255, and the value ofwidthto 5. Don’t forget to call the service after updating the values.If you return to the terminal whereturtle_teleop_keyis running and press the arrow keys, you will seeturtle1’s pen has changed.You’ve probably also noticed that there’s no way to moveturtle2. That’s because there is no teleop node forturtle2.6 RemappingYou need a second teleop node in order to controlturtle2. However, if you try to run the same command as before, you will notice that this one also controlsturtle1. The way to


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you will notice that this one also controlsturtle1. The way to change this behavior is by remapping thecmd_veltopic.In a new terminal, source ROS 2, and run:ros2 run turtlesim turtle_teleop_key --ros-args --remap turtle1/cmd_vel:=turtle2/cmd_velNow, you can moveturtle2when this terminal is active, andturtle1when the other terminal runningturtle_teleop_keyis active.7 Close turtlesimTo stop the simulation, you can enterCtrl+Cin theturtlesim_nodeterminal, andqin theturtle_teleop_keyterminals.SummaryUsing turtlesim and rqt is a great way to learn the core concepts of ROS 2.Next stepsNow that you have turtlesim and rqt up and running, and an idea of how they work, let’s dive into the first core ROS 2 concept with the next tutorial,Understanding nodes.Related contentThe turtlesim package can be found in theros_tutorialsrepo.This community contributed videodemonstrates many of the items covered in this tutorial.


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Code Examples:

Language: unknown sudo apt updatesudo apt install ros-jazzy-turtlesim

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ros2 pkg executables turtlesim

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ros2 run turtlesim turtlesim_node

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ros2 run turtlesim turtle_teleop_key

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sudo dnf install 'ros

jazzy

rqt

'

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rqt

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Language: unknown ros2 run turtlesim turtle_teleop_key --ros-args --remap turtle1/cmd_vel:=turtle2/cmd_vel


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Title: Iron Irwini Changelog

URL: https://docs.ros.org/en/jazzy/Releases/Iron

Irwini

Complete

Changelog.html

Section: Installation

--------------------------------------------------------------------------------


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Iron Irwini ChangelogThis page is a list of the complete changes in all ROS 2 core packages since the previous release.Table of


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Contentsaction_msgsaction_tutorials_cppaction_tutorials_interfacesaction_tutorials_pyactionlib_msgsament_clang_formatament_clang_tidyament_cmakeament_cmake_autoament_cmake_clang_formatament_cmake_clang_tidyament_cmake_copyrightament_cmake_coreament_cmake_cppcheckament_cmake_cpplintament_cmake_export_definitionsament_cmake_export_dependenciesament_cmake_export_include_directoriesament_cmake_export_interfacesament_cmake_export_librariesament_cmake_export_link_flagsament_cmake_export_targetsament_cmake_flake8ament_cmake_gen_version_hament_cmake_gmockament_cmake_google_benchmarkament_cmake_gtestament_cmake_include_directoriesament_cmake_librariesament_cmake_lint_cmakeament_cmake_mypyament_cmake_pclintament_cmake_pep257ament_cmake_pycodestyleament_cmake_pyflakesament_cmake_pytestament_cmake_pythonament_cmake_rosament_cmake_target_dependenciesament_cmake_testament_cmake_uncrustifyament_cmake_vendor_packageament_cmake_versionament_cmake_xmllintament_copyrightament_cppcheckament_cpplintament_flake8ament_index_cppame


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pyrightament_cppcheckament_cpplintament_flake8ament_index_cppament_index_pythonament_lintament_lint_autoament_lint_cmakeament_lint_commonament_mypyament_packageament_pclintament_pep257ament_pycodestyleament_pyflakesament_uncrustifyament_xmllintbuiltin_interfacescamera_calibration_parserscamera_info_managerclass_loadercommon_interfacescompositioncomposition_interfacesdemo_nodes_cppdemo_nodes_cpp_nativedemo_nodes_pydiagnostic_msgsdomain_coordinatordummy_map_serverdummy_robot_bringupdummy_sensorseigen3_cmake_moduleexample_interfacesexamples_rclcpp_async_clientexamples_rclcpp_cbg_executorexamples_rclcpp_minimal_action_clientexamples_rclcpp_minimal_action_serverexamples_rclcpp_minimal_clientexamples_rclcpp_minimal_compositionexamples_rclcpp_minimal_publisherexamples_rclcpp_minimal_serviceexamples_rclcpp_minimal_subscriberexamples_rclcpp_minimal_timerexamples_rclcpp_multithreaded_executorexamples_rclcpp_wait_setexamples_rclpy_executorsexamples_rclpy_guard_conditionsexamples_rclpy_minimal_action_clientexamples_rclpy


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ard_conditionsexamples_rclpy_minimal_action_clientexamples_rclpy_minimal_action_serverexamples_rclpy_minimal_clientexamples_rclpy_minimal_publisherexamples_rclpy_minimal_serviceexamples_rclpy_minimal_subscriberexamples_rclpy_pointcloud_publisherexamples_tf2_pyfastrtps_cmake_modulefoonathan_memory_vendorgeometry2geometry_msgsgoogle_benchmark_vendorignition_cmake2_vendorignition_math6_vendorimage_toolsimage_transportinteractive_markersintra_process_demokdl_parserkeyboard_handlerlaser_geometrylaunchlaunch_pytestlaunch_roslaunch_testinglaunch_testing_ament_cmakelaunch_testing_exampleslaunch_testing_roslaunch_xmllaunch_yamllibcurl_vendorlibstatistics_collectorlibyaml_vendorlifecyclelifecycle_msgslifecycle_pylogging_demomap_msgsmcap_vendormessage_filtersmimick_vendornav_msgsorocos_kdl_vendorosrf_pycommonosrf_testing_tools_cpppendulum_controlpendulum_msgsperformance_test_fixturepluginlibpybind11_vendorpython_cmake_modulepython_orocos_kdl_vendorpython_qt_bindingqt_dotgraphqt_guiqt_gui_appqt_gui_coreqt_gui_cppqt_gui_p


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_bindingqt_dotgraphqt_guiqt_gui_appqt_gui_coreqt_gui_cppqt_gui_py_commonquality_of_service_demo_cppquality_of_service_demo_pyrclrcl_actionrcl_interfacesrcl_lifecyclercl_logging_interfacercl_logging_nooprcl_logging_spdlogrcl_yaml_param_parserrclcpprclcpp_actionrclcpp_componentsrclcpp_lifecyclerclpyrcpputilsrcutilsrmwrmw_connextddsrmw_connextdds_commonrmw_connextddsmicrormw_cyclonedds_cpprmw_dds_commonrmw_fastrtps_cpprmw_fastrtps_dynamic_cpprmw_fastrtps_shared_cpprmw_implementationrmw_implementation_cmakerobot_state_publisherros2actionros2bagros2cliros2cli_common_extensionsros2cli_test_interfacesros2componentros2doctorros2interfaceros2launchros2lifecycleros2lifecycle_test_fixturesros2multicastros2noderos2paramros2pkgros2runros2serviceros2testros2topicros2traceros_testingrosbag2rosbag2_compressionrosbag2_compression_zstdrosbag2_cpprosbag2_examples_cpprosbag2_examples_pyrosbag2_interfacesrosbag2_performance_benchmarkingrosbag2_performance_benchmarking_msgsrosbag2_pyrosbag2_storagerosbag2_storage_default_pluginsro


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g_msgsrosbag2_pyrosbag2_storagerosbag2_storage_default_pluginsrosbag2_storage_mcaprosbag2_storage_sqlite3rosbag2_test_commonrosbag2_test_msgdefsrosbag2_testsrosbag2_transportrosgraph_msgsrosidl_adapterrosidl_clirosidl_cmakerosidl_core_generatorsrosidl_core_runtimerosidl_default_generatorsrosidl_default_runtimerosidl_dynamic_typesupportrosidl_dynamic_typesupport_fastrtpsrosidl_generator_crosidl_generator_cpprosidl_generator_dds_idlrosidl_generator_pyrosidl_generator_testsrosidl_generator_type_descriptionrosidl_parserrosidl_pycommonrosidl_runtime_crosidl_runtime_cpprosidl_runtime_pyrosidl_typesupport_crosidl_typesupport_cpprosidl_typesupport_fastrtps_crosidl_typesupport_fastrtps_cpprosidl_typesupport_interfacerosidl_typesupport_introspection_crosidl_typesupport_introspection_cpprosidl_typesupport_introspection_testsrosidl_typesupport_testsrpyutilsrqtrqt_actionrqt_bagrqt_bag_pluginsrqt_consolerqt_graphrqt_guirqt_gui_cpprqt_gui_pyrqt_msgrqt_plotrqt_publisherrqt_py_commonrqt_py_consolerqt_reconfigurerqt_service_ca


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ublisherrqt_py_commonrqt_py_consolerqt_reconfigurerqt_service_callerrqt_shellrqt_srvrqt_topicrti_connext_dds_cmake_modulerttestrviz2rviz_assimp_vendorrviz_commonrviz_default_pluginsrviz_ogre_vendorrviz_renderingrviz_rendering_testsrviz_visual_testing_frameworksensor_msgssensor_msgs_pyservice_msgsshape_msgsshared_queues_vendorspdlog_vendorsqlite3_vendorsros2statistics_msgsstd_msgsstd_srvsstereo_msgstango_icons_vendortest_clitest_cli_remappingtest_communicationtest_interface_filestest_launch_rostest_launch_testingtest_msgstest_osrf_testing_tools_cpptest_quality_of_servicetest_rclcpptest_rmw_implementationtest_ros2tracetest_securitytest_tf2test_tracetoolstest_tracetools_launchtf2tf2_bullettf2_eigentf2_eigen_kdltf2_geometry_msgstf2_kdltf2_msgstf2_pytf2_rostf2_ros_pytf2_sensor_msgstf2_toolstlsftlsf_cpptopic_monitortopic_statistics_demotracetoolstracetools_launchtracetools_tracetrajectory_msgsturtlesimtype_description_interfacesunique_identifier_msgsurdfurdf_parser_pluginvisualization_msgsyaml_cpp_vendorzstd_vendor


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common_interfaces to C++17. (#215) (#151)Add service_msgs package (#143)[rolling] Update maintainers - 2022-11-07 (#150)Depend on rosidl_core_generators for packages required by actions (#144)Contributors: Audrow Nash, Brian, Chris Lalancette, Jacob Perronaction_tutorials_cppChange all ROS2 -> ROS 2. (#610)Update the demos to C++17. (#594)Add README’s for action_tutorials. (#576)[rolling] Update maintainers - 2022-11-07 (#589)Fix two small bugs in the fibonacci C++ tutorial. (#564)Contributors: Audrow Nash, Chris Lalancette, kagibsonaction_tutorials_interfacesChange all ROS2 -> ROS 2. (#610)A couple more upgrades to C++17. (#609)Add README’s for action_tutorials. (#576)[rolling] Update maintainers - 2022-11-07 (#589)Remove action_msgs dependency (#580)Contributors: Audrow Nash, Chris Lalancette, Jacob Perron, kagibsonaction_tutorials_pyAdd README’s for action_tutorials. (#576)[rolling] Update maintainers - 2022-11-07 (#589)Contributors: Audrow Nash, kagibsonactionlib_msgsUpdate common_interfaces to


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Audrow Nash, kagibsonactionlib_msgsUpdate common_interfaces to C++17. (#215)[rolling] Update maintainers - 2022-11-07 (#210)Contributors: Audrow Nash, Chris Lalancetteament_clang_formatament_clang_format: use open braces for enum definitions (#426)[rolling] Update maintainers - 2022-11-07 (#421)Update maintainers (#379)Contributors: Audrow Nash, james-rms, methylDragonament_clang_tidy[rolling] Update maintainers - 2022-11-07 (#421)Update maintainers (#379)recommend use of –mixin compile-commands (#371)Improve message and avoid missing new lines between reports from files (#373)Contributors: Audrow Nash, William Woodall, methylDragonament_cmake[rolling] Update maintainers - 2022-11-07 (#411) * Update maintainers to Michael JeronimoContributors: Audrow Nashament_cmake_autoSupport INTERFACE on ament_auto_add_library (#420)Fix ament_auto_add_gtest’s parameter passing (#421)[rolling] Update maintainers - 2022-11-07 (#411)Rolling: ament_cmake_auto should include dependencies as SYSTEM (#385)Contributors:


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should include dependencies as SYSTEM (#385)Contributors: Audrow Nash, Christopher Wecht, Joshua Whitley, Rin Iwaiament_cmake_clang_format[rolling] Update maintainers - 2022-11-07 (#421)Update maintainers (#379)Contributors: Audrow Nash, methylDragonament_cmake_clang_tidy[rolling] Update maintainers - 2022-11-07 (#421)Update maintainers (#379)Contributors: Audrow Nash, methylDragonament_cmake_copyright[rolling] Update maintainers - 2022-11-07 (#421)[ament_lint_auto] General file exclusion with AMENT_LINT_AUTO_FILE_EXCLUDE (#386)Update maintainers (#379)Contributors: Abrar Rahman Protyasha, Audrow Nash, methylDragonament_cmake_coreament_cmake_uninstall_target: Correct location of install_manifest.txt (#432)Use file(GENERATE OUTPUT) to create dsv files (#416) Using file(WRITE) and file(APPEND) causes the modification stamp of the file to be changed each time CMake configures, resluting in an ‘Installing’ message rather than an ‘Up-to-date’ message even though the file content is identical. Using


key: chroma:document
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message even though the file content is identical. Using file(GENERATE OUTPUT) updates the timestamp of the file only if the content changes.Warn when trying to symlink install an INTERFACE_LIBRARY (#417)Workaround to exclude Clion’s cmake folders from colcon test (#410) - Add AMENT_IGNORE to CMAKE_BINARY_DIR to avoid picking up cmake specific folders created by CLion incolconbuildandcolcontestcommandsif (NOT ${UNDEFINED_VAR}) gets evaluated to false, so change to if (NOT UNDEFINED_VAR) so it evaluates to true. (#407)[rolling] Update maintainers - 2022-11-07 (#411) * Update maintainers to Michael JeronimoImplement ament_add_default_options (#390)Contributors: Audrow Nash, Kenji Brameld, Michael Orlov, Scott K Logan, Shane Loretz, Silvio Traversaro, methylDragonament_cmake_cppcheck[rolling] Update maintainers - 2022-11-07 (#421)[ament_lint_auto] General file exclusion with AMENT_LINT_AUTO_FILE_EXCLUDE (#386)Update maintainers (#379)Contributors: Abrar Rahman Protyasha, Audrow Nash,


key: chroma:document
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(#379)Contributors: Abrar Rahman Protyasha, Audrow Nash, methylDragonament_cmake_cpplint[rolling] Update maintainers - 2022-11-07 (#421)[ament_lint_auto] General file exclusion with AMENT_LINT_AUTO_FILE_EXCLUDE (#386)Update maintainers (#379)Contributors: Abrar Rahman Protyasha, Audrow Nash, methylDragonament_cmake_export_definitions[rolling] Update maintainers - 2022-11-07 (#411) * Update maintainers to Michael JeronimoContributors: Audrow Nashament_cmake_export_dependencies[rolling] Update maintainers - 2022-11-07 (#411) * Update maintainers to Michael JeronimoContributors: Audrow Nashament_cmake_export_include_directories[rolling] Update maintainers - 2022-11-07 (#411) * Update maintainers to Michael JeronimoContributors: Audrow Nashament_cmake_export_interfaces[rolling] Update maintainers - 2022-11-07 (#411) * Update maintainers to Michael JeronimoContributors: Audrow Nashament_cmake_export_libraries[rolling] Update maintainers - 2022-11-07 (#411) * Update maintainers to Michael


key: chroma:document
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maintainers - 2022-11-07 (#411) * Update maintainers to Michael JeronimoContributors: Audrow Nashament_cmake_export_link_flags[rolling] Update maintainers - 2022-11-07 (#411) * Update maintainers to Michael JeronimoContributors: Audrow Nashament_cmake_export_targets[rolling] Update maintainers - 2022-11-07 (#411) * Update maintainers to Michael JeronimoSupport new target export template introduced with CMake 3.24 (#395)Fix the order in which Export.cmake files are included (#256)Contributors: Audrow Nash, Timo Röhlingament_cmake_flake8Add flake8 linter ignore support (#424)[rolling] Update maintainers - 2022-11-07 (#421)Update maintainers (#379)Contributors: Abrar Rahman Protyasha, Audrow Nash, RFRIEDM-Trimble, methylDragonament_cmake_gen_version_hChanged version gte macro to make it MSVC compatible. Fix#433(#434)[rolling] Update maintainers - 2022-11-07 (#411) * Update maintainers to Michael JeronimoContributors: Audrow Nash, iquaroboticsament_cmake_gmockFix compiler warnings related to gtest/gmock


