diff --git a/built_packages b/built_packages index 6a892ed2a..1d8ef89cd 100644 --- a/built_packages +++ b/built_packages @@ -1,34 +1,34 @@ -https://github.com/ament/ament_cmake.git 261214a73714f6852bcc4b9dad5a3bf9156f603f +https://github.com/ament/ament_cmake.git 4f6f3499fe77eb46d30bfffd527258902a14dd8a https://github.com/ament/ament_index.git 076cef041834ae7a8c515ffb86f97b51e3aaff61 -https://github.com/ament/ament_lint.git 7a5876eff265041db788efb266cdf93b24f5b8fb +https://github.com/ament/ament_lint.git b4be064953c4154fd3bb6f804b04dc196c2666d2 https://github.com/ament/ament_package.git 4e575b1b08659249ceb0a838b9a251f8b1477b04 https://github.com/ament/googletest.git ad343ef3c63b949cef97b0294d5ff352c499881b https://github.com/ament/uncrustify_vendor.git 37d7088131449989663c4258ff8b88b886fb83d8 https://github.com/eProsima/Micro-CDR.git ed4fd513a24a53b93d548d342cb7aa0a18716f04 https://github.com/eProsima/Micro-XRCE-DDS-Client.git b8dbfaa775d0d842edfa9a0eb2ebc8ebdb1a0c14 -https://github.com/kaiaai/kaia_msgs 32ccb058f1937ffcf1f9ea638f9b35d9585e37a8 +https://github.com/kaiaai/kaia_msgs 249b94e2bf9159a66c7ab992aff9d0a2e8fe43cc https://github.com/micro-ROS/micro_ros_msgs.git 02dd8456ede8ae75ba4c706231e1ff9e55758221 https://github.com/micro-ROS/micro_ros_utilities 4757528454cb0386ec0a18fcbd7ce3627fcca60d -https://github.com/micro-ROS/rcl 4f79b47cba4d06fd7af3c5b691d7bc82565e6f94 -https://github.com/micro-ROS/rcutils 6d5476a89727fab17a9b94ba77264a6251024a25 +https://github.com/micro-ROS/rcl 6c6ed1e9cf66cf8623975ef7f9f498fbe97cb785 +https://github.com/micro-ROS/rcutils 02a3dcb0e0c2c8a4556bfd5e4d5da9438da25a56 https://github.com/micro-ROS/rmw-microxrcedds.git 6833232797d1034860125e949f34067a850eeb43 https://github.com/micro-ROS/rosidl_typesupport.git 9e3abf7effcbee61fe9b57712220e22e093b22b5 https://github.com/micro-ROS/rosidl_typesupport_microxrcedds.git 3d4589be60981c24aef5f8926d40125a80878961 https://github.com/ros-controls/control_msgs 1416954c31432c192ff95a06559847e87386cf60 https://github.com/ros2/ament_cmake_ros.git 15f835d0e31354c4ac958a32b5f1caa4246596a5 -https://github.com/ros2/common_interfaces.git 546782d8b970f229da9ae1496d153c6d9fc55328 +https://github.com/ros2/common_interfaces.git a1235b5c3caf8c836c0c8fa0a688dcb7c4e692a4 https://github.com/ros2/example_interfaces.git 4d7d086e4791e1839fecb9c50a1291d4056b916f https://github.com/ros2/libyaml_vendor.git ddabd1951ae619fd42db14ec09d5cb595f644985 -https://github.com/ros2/rcl.git 45fc9520216013007c2d4f3bd69d778af9051aa3 +https://github.com/ros2/rcl.git cc0cd52c398f953fbaba11b1a90b3416ce22b58a https://github.com/ros2/rcl_interfaces.git fbd32f8b8ef90fb9cefdc90d8d2f5b992fd843bb -https://github.com/ros2/rcl_logging.git 014239dd80ab3de2a847af80f23d24da6438ecb7 +https://github.com/ros2/rcl_logging.git 1af4e495f6faceafcd72e9c0b80e373fb901d26b https://github.com/ros2/rclc 169b246f738a1b5604423f6187d27dc770781871 -https://github.com/ros2/rcpputils.git 1905c950b5ff9557212b302ac1b7f484ec144e41 -https://github.com/ros2/rmw.git 83445be486deae8c78d275e092eafb4bf380bd49 +https://github.com/ros2/rcpputils.git 4759809d3e4495a1303563951a5f05fff790d655 +https://github.com/ros2/rmw.git 9ad0ac4dc74ffbd7991b7d57739f3777ca2529db https://github.com/ros2/rmw_implementation.git 03cd08a826da474aeb490e116e1c6bba90756b40 https://github.com/ros2/ros2_tracing.git 0041e07e034538f7fa99cdcbe7c2d2c83dc1d272 -https://github.com/ros2/rosidl.git 2f900108d0bf234139c85b25b7531f20b1cb5a51 +https://github.com/ros2/rosidl.git dc7fedfb2f7bb1604d2be9740023a96fc5b42007 https://github.com/ros2/rosidl_core.git 84fa73d3974fe31fbe397e41e4449a31c2fb6ce4 https://github.com/ros2/rosidl_dds.git 16a3503d7694917f0c968e3918351e8d2f7fdb38 https://github.com/ros2/rosidl_defaults.git 65d0e79a6f477e22b7213590bc8d2465e16cedbf diff --git a/extras/library_generation/colcon.meta b/extras/library_generation/colcon.meta index 5bb8eff87..dd63da192 100644 --- a/extras/library_generation/colcon.meta +++ b/extras/library_generation/colcon.meta @@ -43,7 +43,7 @@ "-DRMW_UXRCE_MAX_NODES=1", "-DRMW_UXRCE_MAX_PUBLISHERS=10", "-DRMW_UXRCE_MAX_SUBSCRIPTIONS=5", - "-DRMW_UXRCE_MAX_SERVICES=1", + "-DRMW_UXRCE_MAX_SERVICES=6", "-DRMW_UXRCE_MAX_CLIENTS=1", "-DRMW_UXRCE_MAX_HISTORY=4", "-DRMW_UXRCE_TRANSPORT=custom" diff --git a/library.properties b/library.properties index e42095b89..a9c6be29f 100644 --- a/library.properties +++ b/library.properties @@ -1,5 +1,5 @@ name=micro_ros_kaia -version=2.0.7-rolling.1 +version=2.0.7-rolling.2 author=micro-ROS, Kaia.ai maintainer=Ilia O. sentence=micro-ROS Arduino library with additional Kaia.ai message types diff --git a/src/cortex-m0plus/libmicroros.a b/src/cortex-m0plus/libmicroros.a index dad089424..0362906d1 100644 Binary files a/src/cortex-m0plus/libmicroros.a and b/src/cortex-m0plus/libmicroros.a differ diff --git a/src/cortex-m3/libmicroros.a b/src/cortex-m3/libmicroros.a index fab90db13..50bfef002 100644 Binary files a/src/cortex-m3/libmicroros.a and b/src/cortex-m3/libmicroros.a differ diff --git a/src/cortex-m4/libmicroros.a b/src/cortex-m4/libmicroros.a index 9b5eceae6..d4ab488dd 100644 Binary files a/src/cortex-m4/libmicroros.a and b/src/cortex-m4/libmicroros.a differ diff --git a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a index c9302fab5..de3ab6773 100644 Binary files a/src/cortex-m7/fpv5-d16-softfp/libmicroros.a and b/src/cortex-m7/fpv5-d16-softfp/libmicroros.a differ diff --git a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a index d865c5b32..2ca5fddbd 100644 Binary files a/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a and b/src/cortex-m7/fpv5-sp-d16-hardfp/libmicroros.a differ diff --git a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a index 8d209d61b..d23f6c9a9 100644 Binary files a/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a and b/src/cortex-m7/fpv5-sp-d16-softfp/libmicroros.a differ diff --git a/src/esp32/libmicroros.a b/src/esp32/libmicroros.a index 04d23fa1a..356af962a 100644 Binary files a/src/esp32/libmicroros.a and b/src/esp32/libmicroros.a differ diff --git a/src/imxrt1062/fpv5-d16-hard/libmicroros.a b/src/imxrt1062/fpv5-d16-hard/libmicroros.a index 29ca9524d..2cf366b96 100644 Binary files a/src/imxrt1062/fpv5-d16-hard/libmicroros.a and b/src/imxrt1062/fpv5-d16-hard/libmicroros.a differ diff --git a/src/mk20dx256/libmicroros.a b/src/mk20dx256/libmicroros.a index f6195b406..271f53dff 100644 Binary files a/src/mk20dx256/libmicroros.a and b/src/mk20dx256/libmicroros.a differ diff --git a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a index ce19beada..40ae33144 100644 Binary files a/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a and b/src/mk64fx512/fpv4-sp-d16-hard/libmicroros.a differ diff --git a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a index ce19beada..40ae33144 100644 Binary files a/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a and b/src/mk66fx1m0/fpv4-sp-d16-hard/libmicroros.a differ diff --git a/src/rcl/logging_rosout.h b/src/rcl/logging_rosout.h index cc76290ae..99af24419 100644 --- a/src/rcl/logging_rosout.h +++ b/src/rcl/logging_rosout.h @@ -213,7 +213,7 @@ rcl_logging_rosout_output_handler( * \param[in] sublogger_name a sublogger name * \return #RCL_RET_OK if the subordinate logger was created successfully, or * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or - * \return #RCL_RET_SUBLOGGER_ALREADY_EXIST if the subordinate logger already exists, or + * \return #RCL_RET_NOT_FOUND if the parent logger does not exist, or * \return #RCL_RET_BAD_ALLOC if allocating memory failed, or * \return #RCL_RET_ERROR if an unspecified error occurs. */ @@ -242,6 +242,7 @@ rcl_logging_rosout_add_sublogger( * \param[in] sublogger_name a sublogger name * \return #RCL_RET_OK if the subordinate logger was finalized successfully, or * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or + * \return #RCL_RET_NOT_FOUND if the sublogger does not exist, or * \return #RCL_RET_BAD_ALLOC if allocating memory failed, or * \return #RCL_RET_ERROR if an unspecified error occurs. */ diff --git a/src/rcl/node.h b/src/rcl/node.h index 5fec4ac79..e58df8d9f 100644 --- a/src/rcl/node.h +++ b/src/rcl/node.h @@ -564,7 +564,8 @@ rcl_get_disable_loaned_message(bool * disable_loaned_message); * must register rcl_node_type_description_service_handle_request or a custom callback * to handle incoming requests, via that client's executor/waitset capabilities. * - * This will initialize the node's type cache, if it has not been initialized already. + * Note that the returned service must be cleaned up by the caller by calling + * rcl_service_fini. * *
* Attribute | Adherence @@ -574,6 +575,7 @@ rcl_get_disable_loaned_message(bool * disable_loaned_message); * Uses Atomics | No * Lock-Free | Yes * + * \param[in] service the handle to the type description service to be initialized * \param[in] node handle to the node for which to initialize the service * \return #RCL_RET_OK if the service was successfully initialized, or * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or @@ -583,59 +585,9 @@ rcl_get_disable_loaned_message(bool * disable_loaned_message); */ RCL_PUBLIC RCL_WARN_UNUSED -rcl_ret_t rcl_node_type_description_service_init(rcl_node_t * node); - -/// Finalizes the node's ~/get_type_description service. -/** - * This function finalizes the node's private ~/get_type_description service. - * - *
- * Attribute | Adherence - * ------------------ | ------------- - * Allocates Memory | No - * Thread-Safe | No - * Uses Atomics | No - * Lock-Free | Yes - * - * \param[in] node the handle to the node whose type cache should be initialized - * \return #RCL_RET_OK if service was deinitialized successfully, or - * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or - * \return #RCL_RET_SERVICE_INVALID if the service is invalid, or - * \return #RCL_RET_NODE_INVALID if the node is invalid, or - * \return #RCL_RET_ERROR if an unspecified error occurs. - */ -RCL_PUBLIC -RCL_WARN_UNUSED -rcl_ret_t rcl_node_type_description_service_fini(rcl_node_t * node); - - -/// Returns a pointer to the node's ~/get_type_description service. -/** - * On success, sets service_out to the initialized service. - * rcl_node_type_description_service_init must be called before this. - * - *
- * Attribute | Adherence - * ------------------ | ------------- - * Allocates Memory | No - * Thread-Safe | No - * Uses Atomics | No - * Lock-Free | Yes - * - * \param[in] node the handle to the node - * \param[out] service_out Handle to pointer that will be set - * \return #RCL_RET_OK if valid service was returned successfully, or - * \return #RCL_RET_NODE_INVALID if node is invalid, or - * \return #RCL_RET_INVALID_ARGUMENT if any arguments are invalid, or - * \return #RCL_RET_NOT_INIT if the service hasn't yet been initialized, or - * \return #RCL_RET_ERROR if an unspecified error occurs. - */ -RCL_PUBLIC -RCL_WARN_UNUSED -rcl_ret_t rcl_node_get_type_description_service( - const rcl_node_t * node, - rcl_service_t ** service_out); - +rcl_ret_t rcl_node_type_description_service_init( + rcl_service_t * service, + const rcl_node_t * node); /// Process a single pending request to the GetTypeDescription service. /** diff --git a/src/rcl/subscription.h b/src/rcl/subscription.h index 083514955..7c922439f 100644 --- a/src/rcl/subscription.h +++ b/src/rcl/subscription.h @@ -209,7 +209,7 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node); * - qos = rmw_qos_profile_default * - allocator = rcl_get_default_allocator() * - rmw_subscription_options = rmw_get_default_subscription_options(); - * - disable_loaned_message = false, true only if ROS_DISABLE_LOANED_MESSAGES=1 + * - disable_loaned_message = true, false only if ROS_DISABLE_LOANED_MESSAGES=0 * * \return A structure containing the default options for a subscription. */ diff --git a/src/rcl/types.h b/src/rcl/types.h index 753fc8eee..f54d67b3a 100644 --- a/src/rcl/types.h +++ b/src/rcl/types.h @@ -51,6 +51,8 @@ typedef rmw_ret_t rcl_ret_t; #define RCL_RET_UNKNOWN_SUBSTITUTION 105 /// rcl_shutdown() already called return code. #define RCL_RET_ALREADY_SHUTDOWN 106 +/// Resource not found +#define RCL_RET_NOT_FOUND 107 // rcl node specific ret codes in 2XX /// Invalid rcl_node_t given return code. diff --git a/src/rmw/types.h b/src/rmw/types.h index 9fc101ab6..90798958e 100644 --- a/src/rmw/types.h +++ b/src/rmw/types.h @@ -163,12 +163,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_subscription_options_s * remote nodes, especially to avoid "double delivery" when both intra- and * inter- process communication is taking place. * - * \todo(wjwwood): nail this down when participant mapping is sorted out. - * See: https://github.com/ros2/design/pull/250 - * - * The definition of local is somewhat vague at the moment. - * Right now it means local to the node, and that definition works best, but - * may become more complicated when/if participants map to a context instead. + * The definition of local means that in the same context. */ bool ignore_local_publications; diff --git a/src/rmw_microxrcedds_c/config.h b/src/rmw_microxrcedds_c/config.h index d24db7432..101d0a7e9 100644 --- a/src/rmw_microxrcedds_c/config.h +++ b/src/rmw_microxrcedds_c/config.h @@ -55,7 +55,7 @@ #define RMW_UXRCE_MAX_NODES 1 #define RMW_UXRCE_MAX_PUBLISHERS 10 #define RMW_UXRCE_MAX_SUBSCRIPTIONS 5 -#define RMW_UXRCE_MAX_SERVICES 1 +#define RMW_UXRCE_MAX_SERVICES 6 #define RMW_UXRCE_MAX_CLIENTS 1 #define RMW_UXRCE_MAX_TOPICS -1 #define RMW_UXRCE_MAX_WAIT_SETS 4 diff --git a/src/sensor_msgs/msg/detail/compressed_image__struct.h b/src/sensor_msgs/msg/detail/compressed_image__struct.h index e9bcab736..f6b9c9dc5 100644 --- a/src/sensor_msgs/msg/detail/compressed_image__struct.h +++ b/src/sensor_msgs/msg/detail/compressed_image__struct.h @@ -41,8 +41,35 @@ typedef struct sensor_msgs__msg__CompressedImage /// +z should point into to plane of the image std_msgs__msg__Header header; /// Specifies the format of the data - /// Acceptable values: - /// jpeg, png, tiff + /// Acceptable values differ by the image transport used: + /// - compressed_image_transport: + /// ORIG_PIXFMT; CODEC compressed + /// where: + /// - ORIG_PIXFMT is pixel format of the raw image, i.e. + /// the content of sensor_msgs/Image/encoding with + /// values from include/sensor_msgs/image_encodings.h + /// - CODEC is one of [jpeg, png, tiff] + /// - COMPRESSED_PIXFMT is only appended for color images + /// and is the pixel format used by the compression + /// algorithm. Valid values for jpeg encoding are: + /// [bgr8, rgb8]. Valid values for png encoding are: + /// [bgr8, rgb8, bgr16, rgb16]. + /// If the field is empty or does not correspond to the + /// above pattern, the image is treated as bgr8 or mono8 + /// jpeg image (depending on the number of channels). + /// - compressed_depth_image_transport: + /// ORIG_PIXFMT; compressedDepth CODEC + /// where: + /// - ORIG_PIXFMT is pixel format of the raw image, i.e. + /// the content of sensor_msgs/Image/encoding with + /// values from include/sensor_msgs/image_encodings.h + /// It is usually one of [16UC1, 32FC1]. + /// - CODEC is one of [png, rvl] + /// If the field is empty or does not correspond to the + /// above pattern, the image is treated as png image. + /// - Other image transports can store whatever values they + /// need for successful decoding of the image. Refer to + /// documentation of the other transports for details. rosidl_runtime_c__String format; /// Compressed image buffer rosidl_runtime_c__uint8__Sequence data;