Add demux #106

rcywongaa · 2024-05-27T16:18:45Z

Completes #105

This PR porting https://github.com/ros/ros_comm/blob/noetic-devel/tools/topic_tools/src/demux.cpp to the ROS 2.

demux is a generic ROS topic demultiplexer: one input topic is fanned out to 1 of N output topics. A service is provided to select between the outputs

Design choices:

Callbacks use lambda instead of std::bind to get default arguments working

Signed-off-by: Rufus Wong <[email protected]>

rcywongaa · 2024-06-07T09:17:21Z

The test fail doesn't seem related to my changes so this PR is considered done. Let me know otherwise. Thanks!

MichaelOrlov · 2024-06-07T22:04:08Z

@rcywongaa Actually Build_and_test job failure relates to the usage of the ament_auto_add_library and ament_auto_add_executable in your PR. In general need to avoid those "magic" macros with amen_auto. At least we are not using them in the ROS 2 core packages.

Signed-off-by: Rufus Wong <[email protected]>

rcywongaa · 2024-06-08T08:02:24Z

@MichaelOrlov Ah ok, I've fixed that and changed all the other stuff to not use ament_cmake_auto.

Any reason why ament_cmake_auto is discouraged? Seems quite nifty

MichaelOrlov · 2024-06-08T19:40:25Z

Any reason why ament_cmake_auto is discouraged? Seems quite nifty

It is an evil at the end and creates a lot of mess since we don't control what it includes as dependencies and what it exports as dependencies. Originally, it was introduced for quick prototyping but not for production-ready code.

topic_tools_interfaces/package.xml

Signed-off-by: Rufus Wong <[email protected]>

rcywongaa · 2024-06-12T08:59:23Z

Fixed, strangely, it doesn't complain locally or on my fork...

topic_tools/test/test_topic_tool.hpp

topic_tools/src/demux_node.cpp

README.md

topic_tools/src/demux.cpp

README.md

topic_tools/src/tool_base_node.cpp

This addresses comment ros-tooling#106 (comment) Signed-off-by: Rufus Wong <[email protected]>

Addresses ros-tooling#106 (comment) Signed-off-by: Rufus Wong <[email protected]>

MichaelOrlov · 2024-06-21T17:48:25Z

@rcywongaa I didn't forget about your PR. Just have a busy week, and we need to clean up the mess on a branches for topic_tools since we incorrectly released from rolling to the Jazzy.

Sorry for the delay, and thank you for your patience.

rcywongaa · 2024-06-23T12:38:55Z

@MichaelOrlov No worries, sorry didn't mean to rush you. Just not too sure what the standard procedure is here. I'll avoid re-requesting a review in the future. 🙇

MichaelOrlov

@rcywongaa Thanks for the iterations and your patience.
Overall looks good now.
However, I would like you to ask to drop your Update CI to use noble rolling
commit from this PR, since we already have these changes on master.
See merged PR #107 for details.

Signed-off-by: Rufus Wong <[email protected]>

This addresses comment ros-tooling#106 (comment) Signed-off-by: Rufus Wong <[email protected]>

Addresses ros-tooling#106 (comment) Signed-off-by: Rufus Wong <[email protected]>

Signed-off-by: Rufus Wong <[email protected]>

rcywongaa · 2024-07-09T11:08:32Z

@MichaelOrlov Done!

MichaelOrlov

LGTM.

MichaelOrlov · 2024-07-09T18:38:28Z

https://github.com/Mergifyio backport jazzy

mergify · 2024-07-09T18:38:40Z

backport jazzy

✅ Backports have been created

#109 Add demux (backport #106) has been created for branch jazzy

* Copy, rename and make buildable Signed-off-by: Rufus Wong <[email protected]> * Swap input and output topic Signed-off-by: Rufus Wong <[email protected]> * Reset publisher if output topic changes Signed-off-by: Rufus Wong <[email protected]> * Add tests Signed-off-by: Rufus Wong <[email protected]> * Fix test failures Signed-off-by: Rufus Wong <[email protected]> * Fix header guard Signed-off-by: Rufus Wong <[email protected]> * Make linter happy Signed-off-by: Rufus Wong <[email protected]> * Add README entry Signed-off-by: Rufus Wong <[email protected]> * Remove lazy parameter Signed-off-by: Rufus Wong <[email protected]> * Rename default input topic to ~/input Signed-off-by: Rufus Wong <[email protected]> * Fix typo Signed-off-by: Rufus Wong <[email protected]> * Remove usage of ament_cmake_auto Signed-off-by: Rufus Wong <[email protected]> * Add missing dependency on ament_cmake Signed-off-by: Rufus Wong <[email protected]> * Fix uncrustify warnings Signed-off-by: Rufus Wong <[email protected]> * Add initial_topic_ variable to avoid confusion This addresses comment #106 (comment) Signed-off-by: Rufus Wong <[email protected]> * Fix outtopic spelling This addresses comment #106 (comment) Signed-off-by: Rufus Wong <[email protected]> * Add error message on incorrect number of arguments Addresses #106 (comment) Signed-off-by: Rufus Wong <[email protected]> * Formatting Signed-off-by: Rufus Wong <[email protected]> --------- Signed-off-by: Rufus Wong <[email protected]> (cherry picked from commit ad48bc0)

* Copy, rename and make buildable Signed-off-by: Rufus Wong <[email protected]> * Swap input and output topic Signed-off-by: Rufus Wong <[email protected]> * Reset publisher if output topic changes Signed-off-by: Rufus Wong <[email protected]> * Add tests Signed-off-by: Rufus Wong <[email protected]> * Fix test failures Signed-off-by: Rufus Wong <[email protected]> * Fix header guard Signed-off-by: Rufus Wong <[email protected]> * Make linter happy Signed-off-by: Rufus Wong <[email protected]> * Add README entry Signed-off-by: Rufus Wong <[email protected]> * Remove lazy parameter Signed-off-by: Rufus Wong <[email protected]> * Rename default input topic to ~/input Signed-off-by: Rufus Wong <[email protected]> * Fix typo Signed-off-by: Rufus Wong <[email protected]> * Remove usage of ament_cmake_auto Signed-off-by: Rufus Wong <[email protected]> * Add missing dependency on ament_cmake Signed-off-by: Rufus Wong <[email protected]> * Fix uncrustify warnings Signed-off-by: Rufus Wong <[email protected]> * Add initial_topic_ variable to avoid confusion This addresses comment #106 (comment) Signed-off-by: Rufus Wong <[email protected]> * Fix outtopic spelling This addresses comment #106 (comment) Signed-off-by: Rufus Wong <[email protected]> * Add error message on incorrect number of arguments Addresses #106 (comment) Signed-off-by: Rufus Wong <[email protected]> * Formatting Signed-off-by: Rufus Wong <[email protected]> --------- Signed-off-by: Rufus Wong <[email protected]> (cherry picked from commit ad48bc0) Co-authored-by: Rufus Wong <[email protected]>

rcywongaa mentioned this pull request May 27, 2024

Port demux #105

Closed

rcywongaa force-pushed the add_demux branch 3 times, most recently from f649f80 to 7229331 Compare May 28, 2024 15:58

rcywongaa marked this pull request as ready for review May 28, 2024 16:00

rcywongaa requested a review from a team as a code owner May 28, 2024 16:00

rcywongaa requested review from emersonknapp and jhdcs May 28, 2024 16:00

rcywongaa added 10 commits May 30, 2024 14:49

Copy, rename and make buildable

073499f

Signed-off-by: Rufus Wong <[email protected]>

Swap input and output topic

7aabeeb

Signed-off-by: Rufus Wong <[email protected]>

Reset publisher if output topic changes

3ce746c

Signed-off-by: Rufus Wong <[email protected]>

Add tests

e5a76c8

Signed-off-by: Rufus Wong <[email protected]>

Fix test failures

098e878

Signed-off-by: Rufus Wong <[email protected]>

Fix header guard

f6e19cd

Signed-off-by: Rufus Wong <[email protected]>

Make linter happy

1238dc3

Signed-off-by: Rufus Wong <[email protected]>

Add README entry

bd451e1

Signed-off-by: Rufus Wong <[email protected]>

Remove lazy parameter

2bef129

Signed-off-by: Rufus Wong <[email protected]>

Rename default input topic to ~/input

7d99188

Signed-off-by: Rufus Wong <[email protected]>

rcywongaa force-pushed the add_demux branch from ee3ada5 to 7d99188 Compare May 30, 2024 12:50

Fix typo

711c3e0

Signed-off-by: Rufus Wong <[email protected]>

christophebedard self-requested a review June 4, 2024 21:14

Remove usage of ament_cmake_auto

97669af

Signed-off-by: Rufus Wong <[email protected]>

rcywongaa force-pushed the add_demux branch from 72e49f2 to 97669af Compare June 8, 2024 07:54

MichaelOrlov reviewed Jun 8, 2024

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topic_tools_interfaces/package.xml Show resolved Hide resolved

rcywongaa force-pushed the add_demux branch from 4fc1805 to 52ba05a Compare June 8, 2024 22:31

Add missing dependency on ament_cmake

db8dd14

Signed-off-by: Rufus Wong <[email protected]>

MichaelOrlov requested changes Jun 12, 2024

View reviewed changes

rcywongaa added a commit to rcywongaa/topic_tools that referenced this pull request Jun 13, 2024

Add initial_topic_ variable to avoid confusion

867567e

This addresses comment ros-tooling#106 (comment) Signed-off-by: Rufus Wong <[email protected]>

rcywongaa added a commit to rcywongaa/topic_tools that referenced this pull request Jun 13, 2024

Add initial_topic_ variable to avoid confusion

9684599

This addresses comment ros-tooling#106 (comment) Signed-off-by: Rufus Wong <[email protected]>

rcywongaa force-pushed the add_demux branch from 867567e to 9684599 Compare June 13, 2024 20:54

rcywongaa added a commit to rcywongaa/topic_tools that referenced this pull request Jun 13, 2024

Add initial_topic_ variable to avoid confusion

56eca45

This addresses comment ros-tooling#106 (comment) Signed-off-by: Rufus Wong <[email protected]>

rcywongaa force-pushed the add_demux branch from 9684599 to 56eca45 Compare June 13, 2024 20:56

rcywongaa added a commit to rcywongaa/topic_tools that referenced this pull request Jun 13, 2024

Fix outtopic spelling

42fca0d

This addresses comment ros-tooling#106 (comment) Signed-off-by: Rufus Wong <[email protected]>

rcywongaa added a commit to rcywongaa/topic_tools that referenced this pull request Jun 13, 2024

Add error message on incorrect number of arguments

fddfbe4

Addresses ros-tooling#106 (comment) Signed-off-by: Rufus Wong <[email protected]>

rcywongaa requested a review from MichaelOrlov June 21, 2024 09:44

MichaelOrlov reviewed Jul 9, 2024

View reviewed changes

MichaelOrlov linked an issue Jul 9, 2024 that may be closed by this pull request

Port demux #105

Closed

rcywongaa added 5 commits July 9, 2024 13:08

Fix uncrustify warnings

84bcb1b

Signed-off-by: Rufus Wong <[email protected]>

Add initial_topic_ variable to avoid confusion

7a806e8

This addresses comment ros-tooling#106 (comment) Signed-off-by: Rufus Wong <[email protected]>

Fix outtopic spelling

cfcbcf9

This addresses comment ros-tooling#106 (comment) Signed-off-by: Rufus Wong <[email protected]>

Add error message on incorrect number of arguments

654c30d

Addresses ros-tooling#106 (comment) Signed-off-by: Rufus Wong <[email protected]>

Formatting

bd2f1ab

Signed-off-by: Rufus Wong <[email protected]>

rcywongaa force-pushed the add_demux branch from 324988a to bd2f1ab Compare July 9, 2024 11:08

MichaelOrlov approved these changes Jul 9, 2024

View reviewed changes

MichaelOrlov mentioned this pull request Jul 9, 2024

Fix Jazzy release to refer to the Jazzy branch for topic_tools repo #108

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5 tasks

MichaelOrlov merged commit ad48bc0 into ros-tooling:rolling Jul 9, 2024
12 checks passed

mergify bot mentioned this pull request Jul 9, 2024

[jazzy] Add demux (backport #106) #109

Merged

christophebedard mentioned this pull request Sep 20, 2024

transform node is not available anymore for ros2 #114

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Add demux #106

Add demux #106

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✅ Backports have been created

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