as sub-task of #86
update table with bloom-releases for galactic

Evaluate quality of ros2/rclc packages regarding quality standard rep-2004

Because of timing issues on ROS 2 build farm some unit test fail sporadically:

• semantics_RCLCPP
• semantics_LET
• trigger_one
• trigger_any
• trigger_all
• trigger_always

commented them out in this PR: micro-ROS#76

The backported PR f246f1a
created a file in rclc_parameter package, even though the rclc_parameter package is not available in Foxy:
https://github.com/ros2/rclc/tree/foxy/rclc_parameter/src/rclc_parameter
(it now just contains one file)

I propose to delete the created file in rclc_parameter directory.

@pablogs9 we have to be more careful with backporting to Foxy as some features are not available there. Could you check if this backport created some other incompatabilities on Foxy?

@norro
the ros2 build farm does not run for Rolling:

https://build.ros2.org/job/Rbin_uF64__rclc_lifecycle__ubuntu_focal_amd64__binary/44/console

23:06:13 /usr/lib/ccache/cc -DDEFAULT_RMW_IMPLEMENTATION=rmw_cyclonedds_cpp -DRCUTILS_ENABLE_FAULT_INJECTION -DROS_PACKAGE_NAME=\"rclc_lifecycle\" -Drclc_lifecycle_EXPORTS -I/tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/include -I/tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src -isystem /opt/ros/rolling/include  -g -O2 -fdebug-prefix-map=/tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0=. -fstack-protector-strong -Wformat -Werror=format-security -Wdate-time -D_FORTIFY_SOURCE=2 -fPIC   -Wall -Wextra -Wpedantic -std=gnu99 -o CMakeFiles/rclc_lifecycle.dir/src/rclc_lifecycle/rclc_lifecycle.c.o   -c /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c
23:06:13 /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c: In function ‘rclc_make_node_a_lifecycle_node’:
23:06:13 /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c:50:5: warning: passing argument 9 of ‘rcl_lifecycle_state_machine_init’ makes pointer from integer without a cast [-Wint-conversion]
23:06:13    50 |     true,
23:06:13       |     ^~~~
23:06:13       |     |
23:06:13       |     int
23:06:13 In file included from /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/include/rclc_lifecycle/rclc_lifecycle.h:24,
23:06:13                  from /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c:17:
23:06:13 /opt/ros/rolling/include/rcl_lifecycle/rcl_lifecycle.h:253:49: note: expected ‘const rcl_lifecycle_state_machine_options_t *’ {aka ‘const struct rcl_lifecycle_state_machine_options_t *’} but argument is of type ‘int’
23:06:13   253 |   const rcl_lifecycle_state_machine_options_t * state_machine_options);
23:06:13       |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
23:06:13 /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c:41:23: error: too many arguments to function ‘rcl_lifecycle_state_machine_init’
23:06:13    41 |   rcl_ret_t rcl_ret = rcl_lifecycle_state_machine_init(
23:06:13       |                       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
23:06:13 In file included from /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/include/rclc_lifecycle/rclc_lifecycle.h:24,
23:06:13                  from /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c:17:
23:06:13 /opt/ros/rolling/include/rcl_lifecycle/rcl_lifecycle.h:244:1: note: declared here
23:06:13   244 | rcl_lifecycle_state_machine_init(
23:06:13       | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
23:06:13 /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c: In function ‘rcl_lifecycle_node_fini’:
23:06:13 /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c:233:13: error: too many arguments to function ‘rcl_lifecycle_state_machine_fini’
23:06:13   233 |   rcl_ret = rcl_lifecycle_state_machine_fini(
23:06:13       |             ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
23:06:13 In file included from /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/include/rclc_lifecycle/rclc_lifecycle.h:24,
23:06:13                  from /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c:17:
23:06:13 /opt/ros/rolling/include/rcl_lifecycle/rcl_lifecycle.h:278:1: note: declared here
23:06:13   278 | rcl_lifecycle_state_machine_fini(

https://build.ros2.org/job/Rbin_ufv8_uFv8__rclc_lifecycle__ubuntu_focal_arm64__binary/39/

23:05:57 /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c:50:5: warning: passing argument 9 of ‘rcl_lifecycle_state_machine_init’ makes pointer from integer without a cast [-Wint-conversion]
23:05:57    50 |     true,
23:05:57       |     ^~~~
23:05:57       |     |
23:05:57       |     int
23:05:57 In file included from /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/include/rclc_lifecycle/rclc_lifecycle.h:24,
23:05:57                  from /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c:17:
23:05:57 /opt/ros/rolling/include/rcl_lifecycle/rcl_lifecycle.h:253:49: note: expected ‘const rcl_lifecycle_state_machine_options_t *’ {aka ‘const struct rcl_lifecycle_state_machine_options_t *’} but argument is of type ‘int’
23:05:57   253 |   const rcl_lifecycle_state_machine_options_t * state_machine_options);
23:05:57       |   ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~
23:05:57 /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c:41:23: error: too many arguments to function ‘rcl_lifecycle_state_machine_init’
23:05:57    41 |   rcl_ret_t rcl_ret = rcl_lifecycle_state_machine_init(
23:05:57       |                       ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
23:05:57 In file included from /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/include/rclc_lifecycle/rclc_lifecycle.h:24,
23:05:57                  from /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c:17:
23:05:57 /opt/ros/rolling/include/rcl_lifecycle/rcl_lifecycle.h:244:1: note: declared here
23:05:57   244 | rcl_lifecycle_state_machine_init(
23:05:57       | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
23:05:57 /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c: In function ‘rcl_lifecycle_node_fini’:
23:05:57 /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c:233:13: error: too many arguments to function ‘rcl_lifecycle_state_machine_fini’
23:05:57   233 |   rcl_ret = rcl_lifecycle_state_machine_fini(
23:05:57       |             ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
23:05:57 In file included from /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/include/rclc_lifecycle/rclc_lifecycle.h:24,
23:05:57                  from /tmp/binarydeb/ros-rolling-rclc-lifecycle-1.0.0/src/rclc_lifecycle/rclc_lifecycle.c:17:
23:05:57 /opt/ros/rolling/include/rcl_lifecycle/rcl_lifecycle.h:278:1: note: declared here
23:05:57   278 | rcl_lifecycle_state_machine_fini(

The codecov tool also checks the test folders and rclc_examples.
The PR #145 was not successful yet.
Even though I excluded these paths in codecov.yml according to
https://docs.codecov.com/docs/ignoring-paths

Running the current master branch with ROS2 master branches on CI:

• Linux
• Linux-aarch64
• macOS
• Windows

update bloom release for dashing.
Problem:

• branch foxy is used for Dashing bloom release.
• new pull requests on Foxy trigger a build on Dashing, which is EOL.

Solution:

• created a Dashing branch (copy from Foxy)
• change bloom release configuration to use dashing instead of foxy branch

The current master branch can be built against Foxy only as it uses rcl's new rcl_wait_set_is_valid()-function, which has been introduced on 2 December 2019. As this function is a one-liner only, cf. https://github.com/ros2/rcl/blob/master/rcl/src/rcl/wait.c#L83, it may be put easily into some wait_set_utils.h/.c file.

add code coverage analysis for Foxy branch (backport from master branch (Rolling)).

update bloom release status in README.md

galactic release 2.0.1

Initally, we only had services, subscriptions, clients. Now we have multiple types of callbacks for subscriptions, services and clients:

• with request id/without request id (for services/clients),
• with context, without context (for subscriptions/clients/services).

It would make sense to refactor handle->type and add e..g
SERVICE_WITH_REQ_ID
SERVICE_WITHOUT_REQ_ID
SERVICE_WITHOUT_CONTEXT
SERVICE_WITH_CONTEXT
SUBSCRIPTION_WITH_CONTEXT
SUBSCRIPTION_WITHOUT_CONTEXT
same for CLIENTS ...
(quite a number of types ...)

the request-id is currently not used in services with context.

@norro @pablogs9 @BrettRD Let's discuss here, how to simplify callback-type and handle-type variables.

Issue template

• Hardware description: Ubuntu LTS vm
• Installation type: from source
• Version or commit hash: master (59632f2)

Steps to reproduce the issue

1. Start example server - ros2 run rclc_examples example_service_node
2. Perform a ROS 2 CLI service call - ros2 service call /addtwoints example_interfaces/srv/AddTwoInts "{a:24, b:42}"

Expected behavior

Expected: you can perform the service call multiple times. This is still true, if you use ros2 run rclc_examples example_client_node instead of the CLI service call.

Actual behavior

example_service_node exits within 2-3 seconds.

Additional information

When I edit the example_service_node to print the rcl error:

77:  rcl_ret_t rc = rclc_executor_spin(&executor):
78:  printf("%d: %s", rc, rcl_get_error_string().str);

I get the following error printed 2-3 seconds aftre the CLI service call:
601: rclc_executor_spin_some error, at [snip]/src/rclc/executor.c:1347

provide lifecycle services for lifecycle nodes, i.e., change state, get current state, get available states.

see previous ticket micro-ROS#40
see also: micro-ROS#75

I'm using a best-effort publisher in a fast loop, The non-blocking behaviour is great but I'm finding duplicate messages where the message was re-written by the data source before the publish completed.

The best-practices solution is multiple-buffering, where a pool of messages gets circulated through the data-writer and publisher, but I don't have any way of telling the pool when the message has been released by the publisher and can be re-used by the writer.

A callback (with a user-context pointer, released-message pointer, and optionally a rcl_ret_t return value) is an option, but might be overkill.

When build with -Wpedantic, two warnings are raised in executor_handle.h:
"warning: ISO C99 doesn’t support unnamed structs/unions" in line #104 and line #137.

Following from #35 add context pointers to service calls, I'd like to use subscriptions with context pointers too

The change would re-use (and re-name) the void * service_context; added in #45, and add the following:

typedef void (* rclc_subscription_callback_with_context_t)(const void *, void *);

rcl_ret_t
rclc_executor_add_subscription_with_context(
  rclc_executor_t * executor,
  rcl_subscription_t * subscription,
  void * msg,
  rclc_callback_t callback,
  void * context,
  rclc_executor_handle_invocation_t invocation);

I have most of a patch, I'll re-base it onto #45 in the next couple of weeks and submit a pull to micro-ros

some rclc unit tests fail for Rolling on OSRF build farm. CI job github actions passes.
https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/64/#showFailuresLink

When executing the example service node, spinning by a calling of rclc_executor_spin (example_service_node.c#L77), just one service call is processed, then the process closes.

Steps to reproduce:

1. Start the example_service_node executable from rclc_example
2. Call the example service, e.g., on the terminal with ros2 service call /addtwoints example_interfaces/srv/AddTwoInts "{a: 17, b: 42}"
3. Call the example service again

Expected behavior:
Service remains active after the first service call, accepting further service calls.

Observed behavior:
Example service executable closes after (successfully) handling the first service call.

@norro
Hi Arne, could you have a look, why these unit tests with services fail?
https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/71/#showFailuresLink

Option A)

• you could use this PR for the fix: #46
• that means to create a branch based on micro-ros/rclc:master and then
• create a PR to micro-ros/rclc:master.
• then these changes will be considered in the PR.

Option B)

• I merge this PR #46 now
• You start fresh from ros2/rclc:master

There is no API for removing subscription, timers, services or clients. I ran into this while trying to add a context pointer to subscriptions.

rclc_executor_add_subscription increments executor->index after filling executor->handles[executor->index] with the information about the subscription.

During rclc_executor_spin_some, the executor iterates through all handles and makes a call to rcl_wait_set_add_subscription, then calls rcl_wait

If you call rcl_subscription_fini on the subscription, The RCL docs indicate After calling, calls to rcl_wait and rcl_take will fail when using this subscription.

No call in executor.c is able to decrement executor->index or remove a handle containing an invalid subscription.
Once you call rcl_subscription_fini, the executor breaks permanently.

I'd like to propose an API addition of:
rcl_ret_t rclc_executor_remove_subscription(rclc_executor_t * executor, rcl_subscription_t * subscription);
and similar for clients, timers and services.

This would search through executor->handles until it finds a pointer match to the subscription argument, remove it, and shorten the handles list.
I can't see a safe way of making this automatically detect dead subscriptions, especially in my case where my rcl_subscription_t are allocated dynamically.

Is the order of handles important?

Missing condition to call client callback with context:

@norro. It looks like that the implementation of the client callback with context is not properly called: In case the client would have a context (which is not possible now), it will call the normal callback function and not the callback function with context:

Create bloom release for Foxy, Galactic and Rolling once the open PR/issues

• #131 - done
• #117 - done
• #129 - done

are merged/resolved.

TODO:

• update changelog for Rolling
• update changelog for Galactic
• update changelog for Foxy
• create tag for Rolling
• create tag for Galactic
• create tag for Foxy
• create bloom release Rolling
• create bloom release Galactic
• create bloom release Foxy
• check that all bloom releases pass ROS 2 build farm (build fails for rclc_parameters, see PR #156)
• update README (bloom release status table)

Notes:

• do it in this order: foxy, galactic, rolling (otherwise the bloom release tool will complain that rolling has a newer tag than foxy)

new features

• windows port
• new API for rcl_lifecycle in Rolling
• operating-system independent sleep functions
• minor bug fixes

TODO:

• bloom release for Rolling
• bloom release for Dashing
• bloom release for Foxy

be more consise about adding subscriptions at runtime and memory allocation

@pablogs9 The package rclc_parameters had missing test dependencies. While the build at ROS 2 build farm on the pull requests were successful, the creation of debian packages (bloom release) were not because test dependencies are evaluted seperately for each package.

This was fixed in PR: #156.

Status:

Galactic:

• update changelog and version
• create tag 2.0.3
• create PR on rosdistro
• check bloom release status
• create github release v2.0.3-galactic

Rolling:

• update changelog and version
• create tag 3.0.3
• create PR on rosdistro
• check bloom release status
• create github release v3.0.3-rolling

@wjwwood
Hi William, there was a change at eProsima. Julian (user name: julibert) left the company and Pablo (user name: pablogs9) is the new maintainer instead. Could you please remove Julian from the rclc-repo permissions and add Pablo instead? This change was documented in https://github.com/ros2/rclc/blob/master/rclc/package.xml#L8

I am not able to change these access permissions.
Thanks, Jan.

@pablogs9 The build of rclc_parameters on Ubuntu 18.04 on Galactic fails with:

...
Starting >>> rclc_parameter
--- stderr: rclc_parameter                                                                     
CMake Error at CMakeLists.txt:8 (add_compile_definitions):
  Unknown CMake command "add_compile_definitions".
---
Failed   <<< rclc_parameter [0.17s, exited with code 1]
Aborted  <<< rclc_lifecycle [0.35s] 

Required cmake version in CMakeLists.txt is 3.5. My locally installed cmake has version 3.10.2. add_compile_definitions are supported from version 3.12

This is the line in CMakeLists.txt:

As an alternative, you could use add_definitions like in rclc\CMakeLists.txt:

if("${rcl_VERSION}" VERSION_LESS "1.0.0")
  message(STATUS "Found rcl version ${rcl_VERSION}, which belongs to Dashing or Eloquent")
  # Later, with CMake 3.12+ use:
  # add_compile_definitions(USE_RCL_WAIT_SET_IS_VALID_BACKPORT)
  add_definitions(-DUSE_RCL_WAIT_SET_IS_VALID_BACKPORT)
else()
  message(STATUS "Found rcl version ${rcl_VERSION}, which belongs to Foxy or later")
  find_package(rosidl_runtime_c REQUIRED)
endif()

Could you check, how to replace add_compile_definitions? The build jobs at github and openrobotics build farm run successfully, as I guess ubunto 20.04 is used with a more recent version of cmake.

Alternative: you have to increase the minimum required version of cmake in CMakeLists.txt. But then users on Ubuntu 18.04 will have to update cmake manually first...

Currently, service callbacks get

1. either exactly two arguments: pointer to the request and pointer to the response
2. or three arguments: pointer to the request, pointer to the response, and the request id

This is rather limiting, as it does not allow to provide any additional context to the callback. E.g., in case of the lifecycle node: when the state change service is called, I currently don't have the possibility to get the lifecycle node on which the state change was called.

I propose to add a third option, in addition to the two introduced above, where a third void * argument allows passing additional context, e.g., the lifecycle node in the example above.

Provide launch tests for system tests to test, e.g., interplay between publisher/subscriber, server/client, parametrization of nodes, etc.

Should be in a separate package as it introduces additional dependencies, e.g., to launch, launch_test, and rclcpp.

@pablogs9
The github CI build job on Rolling fails:
https://github.com/ros2/rclc/actions/runs/1036566413

This is the output of colcon_test --packages-select rclc rclc_lifecycle rclc_parameter on my local machine on Rolling:

1: -- run_test.py: invoking following command in '/home/jst3si/github/build/rclc_parameter':
1:  - /home/jst3si/github/build/rclc_parameter/rclc_parameter_test --gtest_output=xml:/home/jst3si/github/build/rclc_parameter/test_results/rclc_parameter/rclc_parameter_test.gtest.xml
1: Running main() from /home/jst3si/ros2_rolling/install/gtest_vendor/src/gtest_vendor/src/gtest_main.cc
1: [==========] Running 1 test from 1 test suite.
1: [----------] Global test environment set-up.
1: [----------] 1 test from Test
1: [ RUN      ] Test.rclc_node_init_default
1: 1626428338.597294 [0] rclc_param: using network interface wlp4s0 (udp/192.168.2.113) selected arbitrarily from: wlp4s0, br-b36361797d8d, br-14891b21ebd2, br-25a8035deb43, br-3a336396c85a, br-4785f765189b, br-89d99fc843c8, br-9b72c4be763f, br-adc9c608f11a, docker0, br-011ba5ddf9ec, br-1fa8df27d324, br-6bd062b25b91, br-5c6374d44867, br-815016a75d18, br-919ec2a858fb, br-997bb5b6c865, br-bcd6b201b56c, br-18ed396621d3, br-2e319e5f5bdf, br-89bec585106e, br-cf4299774085, br-de0a63c0f8fd, tun0
1: 
1: >>> [rcutils|error_handling.c:108] rcutils_set_error_state()
1: This error state is being overwritten:
1: 
1:   'parameter is a null pointer, at /home/jst3si/github/src/rclc/rclc_parameter/src/rclc_parameter/parameter_server.c:235'
1: 
1: with this new error message:
1: 
1:   'node is a null pointer, at /home/jst3si/github/src/rclc/rclc_parameter/src/rclc_parameter/parameter_server.c:237'
1: 
1: rcutils_reset_error() should be called after error handling to avoid this.
1: <<<
1: rclc_parameter_test: /home/jst3si/ros2_rolling/src/ros2/rmw_cyclonedds/rmw_cyclonedds_cpp/src/TypeSupport2.hpp:405: virtual rmw_cyclonedds_cpp::TypedSpan<const char> rmw_cyclonedds_cpp::ROSIDLC_StringValueType::data(const void*) const: Assertion `str->capacity == str->size + 1' failed.
1: -- run_test.py: return code -6            
1: -- run_test.py: generate result file '/home/jst3si/github/build/rclc_parameter/test_results/rclc_parameter/rclc_parameter_test.gtest.xml' with failed test
1: -- run_test.py: verify result file '/home/jst3si/github/build/rclc_parameter/test_results/rclc_parameter/rclc_parameter_test.gtest.xml'
1/6 Test #1: rclc_parameter_test ..............***Failed    0.40 sec
...
83% tests passed, 1 tests failed out of 6

Label Time Summary:
cppcheck      =   0.62 sec*proc (1 test)
cpplint       =   0.76 sec*proc (1 test)
gtest         =   0.40 sec*proc (1 test)
lint_cmake    =   0.47 sec*proc (1 test)
linter        =   3.51 sec*proc (5 tests)
uncrustify    =   0.60 sec*proc (1 test)
xmllint       =   1.06 sec*proc (1 test)

Total Test time (real) =   3.91 sec

The following tests FAILED:
	  1 - rclc_parameter_test (Failed)
Errors while running CTest
--- stderr: rclc_parameter
Errors while running CTest
---
Finished <<< rclc_parameter [4.09s]	[ with test failures ]

Summary: 3 packages finished [23.8s]
  1 package had stderr output: rclc_parameter
  1 package had test failures: rclc_parameter

Maybe this has something to do with the recent PR regarding set_compile_definition macro in CMakeLists.txt?

I've been reviewing ROS-related repositories which use Codecov after the security incident announced yesterday. This repository uses the Codecov GitHub action and so was affected by the issue. The only secret exposed in the action is the configured codecov token and since the secret is not actually required I think the best course of action is to regenerate the codecov secret and remove it from the repository. I'm happy to take both operations but I wanted to notify the maintainers of the repository before doing so.

Versions of the codecov action >= 1.4.0 will now perform a checksum check of the bash script used internally to push data to codecov. Since this repository is using the action @v1 future actions runs will use an appropriate version of the codecov action.

We have received a number of requests to provide a C++ API for micro-ROS. Therefore we would like to discuss how to develop a C++ API for micro-ROS as a community effort. The default rclcpp API uses dynamic memory allocation (STL containers) which is problematic for micro-controllers due to memory framentation and potentially allocating more memory than available. Completely re-writing rclcpp would be a large effort, therefore we see two basic strategies:

• A) a replacement of rclcpp with a minimal feature set without dynamic memory allocation
• B) thin C++ layer on top of rclc.

The decision might also depend on the requirements for such a C++ API. So please feel free to join the next EWG meeting on 27th July 2021 to share your opinion:
https://discourse.ros.org/t/ros-2-embedded-wg-meetings/15460

You are also welcome to comment here below.

Suggestion:
Make the current RCCHECK macro(s) (see here for example) part of rclc library, e.g., as RCCHECK/RCLCCHECK/RCLC_CHECK macro.

Rationale:
I end up introducing the same code again and again in almost all of my rclc files as well.

Add quality declaration statement for rclc_parameter package.

Add support for rclc lifecycle nodes, i.e., bundle ROS 2 default state machine with nodes, enable transition callbacks, etc.

In an rclc application of mine, but also in the example service node (when applying this fix), I see that the service is processed twice. I do not have the appropriate rcl(c) knowledge / debugging abilities to understand the source of this issue.

Steps to reproduce:

1. Apply this fix to the example service node
2. Execute the example service node
3. Call the service once, e.g., with ros2 service call /addtwoints example_interfaces/srv/AddTwoInts "{a: 17, b: 42}"

Expected output of the example service node:

Service request value: 17 + 42

Observed output of the example service node:

Service request value: 17 + 42
Service request value: 17 + 42

As a user of rclc, I'd like to be able to initialize all memory the executor will need before going into my "active" mode. Right now, this is done on the first spin. My current workaround is to call spin_some with a timeout of 0 at the end of my initialization. However, this is not fully transparent. "Why do you spin here?"

A ROS2 node provides a handy interface for log messages. Something like node.get_logger().info(). You all know we can view these messages in rqt and other tools.

It seems that such a function is not availabe in micro-ros

BR Patrick

see previous ticket: micro-ROS#77
see also: micro-ROS#75
@PaddyCube We are transferring all tickets/PR to ros2/rclc repository. The micro-ros organization shall only be used for feature branches based on ros2/rclc. That's why I created this ticket on ros2/rclc and closed your ticket on micro-ros/rclc.

Add support for rclc lifecycle nodes, i.e., bundle ROS 2 default state machine with nodes, enable transition callbacks, etc.

See issue micro-ROS#37
see also: micro-ROS#75

See discussion in issue micro-ROS#79 and #109

• Hardware description: Ubuntu 20.04, ROS2 Rolling
• Installation type: micro-ROS Arduino installed from sources
• Version or commit hash: micro-ROS Arduino from Rolling branch (main)

Steps to reproduce the issue

Hello,
I tried to build the latest version from micro-ROS Arduino, but a build error occurred:

cd ~/Arduino/libraries
git clone -b main https://github.com/micro-ROS/micro_ros_arduino.git
cd ~/Arduino/libraries/micro_ros_arduino
sudo docker pull microros/micro_ros_arduino_builder:rolling
sudo docker run -it --rm -v $(pwd):/arduino_project microros/micro_ros_arduino_builder:rolling -p teensy32

This last command failed:

Starting >>> rclc_lifecycle
--- stderr: rclc_lifecycle                                                                                                                                                                           
CMake Warning at /uros_ws/firmware/mcu_ws/install/share/rcutils/cmake/ament_cmake_export_libraries-extras.cmake:116 (message):
  Package 'rcutils' exports library 'dl' which couldn't be found
Call Stack (most recent call first):
  /uros_ws/firmware/mcu_ws/install/share/rcutils/cmake/rcutilsConfig.cmake:41 (include)
  /uros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /uros_ws/firmware/mcu_ws/install/share/rosidl_runtime_c/cmake/rosidl_runtime_cConfig.cmake:41 (include)
  /uros_ws/firmware/mcu_ws/install/share/lifecycle_msgs/cmake/ament_cmake_export_dependencies-extras.cmake:21 (find_package)
  /uros_ws/firmware/mcu_ws/install/share/lifecycle_msgs/cmake/lifecycle_msgsConfig.cmake:41 (include)
  CMakeLists.txt:11 (find_package)


/uros_ws/firmware/mcu_ws/uros/rclc/rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c: In function 'rclc_make_node_a_lifecycle_node':
/uros_ws/firmware/mcu_ws/uros/rclc/rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c:50:5: warning: passing argument 9 of 'rcl_lifecycle_state_machine_init' makes pointer from integer without a cast [-Wint-conversion]
     true,
     ^
In file included from /uros_ws/firmware/mcu_ws/uros/rclc/rclc_lifecycle/include/rclc_lifecycle/rclc_lifecycle.h:24:0,
                 from /uros_ws/firmware/mcu_ws/uros/rclc/rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c:17:
/uros_ws/firmware/mcu_ws/install/include/rcl_lifecycle/rcl_lifecycle.h:244:1: note: expected 'const rcl_lifecycle_state_machine_options_t * {aka const struct rcl_lifecycle_state_machine_options_t *}' but argument is of type 'int'
 rcl_lifecycle_state_machine_init(
 ^
/uros_ws/firmware/mcu_ws/uros/rclc/rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c:41:23: error: too many arguments to function 'rcl_lifecycle_state_machine_init'
   rcl_ret_t rcl_ret = rcl_lifecycle_state_machine_init(
                       ^
In file included from /uros_ws/firmware/mcu_ws/uros/rclc/rclc_lifecycle/include/rclc_lifecycle/rclc_lifecycle.h:24:0,
                 from /uros_ws/firmware/mcu_ws/uros/rclc/rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c:17:
/uros_ws/firmware/mcu_ws/install/include/rcl_lifecycle/rcl_lifecycle.h:244:1: note: declared here
 rcl_lifecycle_state_machine_init(
 ^
/uros_ws/firmware/mcu_ws/uros/rclc/rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c: In function 'rcl_lifecycle_node_fini':
/uros_ws/firmware/mcu_ws/uros/rclc/rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c:233:13: error: too many arguments to function 'rcl_lifecycle_state_machine_fini'
   rcl_ret = rcl_lifecycle_state_machine_fini(
             ^
In file included from /uros_ws/firmware/mcu_ws/uros/rclc/rclc_lifecycle/include/rclc_lifecycle/rclc_lifecycle.h:24:0,
                 from /uros_ws/firmware/mcu_ws/uros/rclc/rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c:17:
/uros_ws/firmware/mcu_ws/install/include/rcl_lifecycle/rcl_lifecycle.h:278:1: note: declared here
 rcl_lifecycle_state_machine_fini(
 ^
make[2]: *** [CMakeFiles/rclc_lifecycle.dir/build.make:66: CMakeFiles/rclc_lifecycle.dir/src/rclc_lifecycle/rclc_lifecycle.c.obj] Error 1
make[1]: *** [CMakeFiles/Makefile2:108: CMakeFiles/rclc_lifecycle.dir/all] Error 2
make: *** [Makefile:144: all] Error 2
---
Failed   <<< rclc_lifecycle [1.12s, exited with code 2]

Additional information

@pablogs9 gave me the following information:
this is an RCLC problem because they have not updated their RCL API usage in Rolling. These are the changes: ros2/rcl@e9b588d

Galactic branch for ROS 2 was created: https://discourse.ros.org/t/galactic-api-and-feature-freeze-in-rolling/19795

TODO:

• create new branch for Galactic
• new CI job for Rolling
• update CI jobs (Rolling stays the same)
• new bloom release for Galactic
• update codecov badge in README.md

@norro, @ralph-lange @pablogs9 ,@BrettRD

Which PR shall me merge for the Galactic release?

currently open PRs for Rolling:

• Add parameter server functionality: #88
• Quality declaration statement #74
• Add Subscription with context pointer #73 (closed)
• Provide lifecycle services in the rclc lifecycle nodes #51

Hello!

I'm really looking forward to ROS2's C API and was wondering what the current status of the project is? What's the best way to stay up to date in the future?
Thanks!

Add support for clients and services to the rclc_executor, in the style of rclc_executor_add_subscription (cf. https://github.com/ros2/rclc/blob/master/rclc/include/rclc/executor.h#L208).

• original windows port PR #62 (closed, for Rolling)
• #69 (problem with the CI job on build farm)
• PR (backport for foxy) #84 (open)

I'm working #116 and I'm not sure what to do with rclc_executor_trigger_one.

This looks like it's supposed to return true if at least one of handles is ready to be executed, but it returns false if it reaches a type in CLIENT, SERVICE, or GUARD_CONDITION

For now I'm expanding it to any type where data_available is ever set to true

If anyone knows what this is, can we discuss a test for it?

@pablogs9 quality declaration statement for rclc_parameter is missing (branches: galactic, rolling)