From 47cb3548ce3a7f620501868a64ce5c66169344b6 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Fri, 8 Nov 2024 06:41:08 +0100 Subject: [PATCH 1/4] Change to EventsExecutor MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Francisco Martín Rico --- README.md | 2 +- .../test/rclcpp_cascade_lifecycle_test.cpp | 32 +++++++++---------- ...p_cascade_lifecycle_test_no_duplicates.cpp | 32 +++++++++---------- 3 files changed, 33 insertions(+), 33 deletions(-) diff --git a/README.md b/README.md index 3906c25..e0a4b4d 100644 --- a/README.md +++ b/README.md @@ -28,7 +28,7 @@ Using `rclcpp_cascade_lifecycle` in the next example, `node_b` makes the same st auto node_a = std::make_shared("node_A"); auto node_b = std::make_shared("node_B"); -rclcpp::executors::SingleThreadedExecutor executor; +rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); diff --git a/rclcpp_cascade_lifecycle/test/rclcpp_cascade_lifecycle_test.cpp b/rclcpp_cascade_lifecycle/test/rclcpp_cascade_lifecycle_test.cpp index 28c8c80..8d99684 100644 --- a/rclcpp_cascade_lifecycle/test/rclcpp_cascade_lifecycle_test.cpp +++ b/rclcpp_cascade_lifecycle/test/rclcpp_cascade_lifecycle_test.cpp @@ -74,7 +74,7 @@ TEST(rclcpp_cascade_lifecycle, activations_managing_basic) auto node_b = std::make_shared("node_B"); auto node_c = std::make_shared("node_C"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); executor.add_node(node_c->get_node_base_interface()); @@ -104,7 +104,7 @@ TEST(rclcpp_cascade_lifecycle, activations_managing_late_joining) auto node_a = std::make_shared("node_A"); auto node_b = std::make_shared("node_B"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -164,7 +164,7 @@ TEST(rclcpp_cascade_lifecycle, activations_chained) auto node_a = std::make_shared("node_A"); auto node_b = std::make_shared("node_B"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -265,7 +265,7 @@ TEST(rclcpp_cascade_lifecycle, multiple_activations_chained) auto node_b = std::make_shared("node_B"); auto node_c = std::make_shared("node_C"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); executor.add_node(node_c->get_node_base_interface()); @@ -447,7 +447,7 @@ TEST(rclcpp_cascade_lifecycle, fast_change) auto node_a = std::make_shared("node_A"); auto node_b = std::make_shared("node_B"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -489,7 +489,7 @@ TEST(rclcpp_cascade_lifecycle, activators_disappearance) auto node_a = std::make_shared("node_A"); auto node_b = std::make_shared("node_B"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -549,7 +549,7 @@ TEST(rclcpp_cascade_lifecycle, activators_disappearance_inter) auto node_b = std::make_shared("node_B"); auto node_c = std::make_shared("node_C"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); executor.add_node(node_c->get_node_base_interface()); @@ -901,7 +901,7 @@ TEST(rclcpp_cascade_lifecycle, inheritance) auto node_1 = std::make_shared("node_1"); auto node_2 = std::make_shared("node_2"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_1->get_node_base_interface()); executor.add_node(node_2->get_node_base_interface()); @@ -967,7 +967,7 @@ TEST(rclcpp_cascade_lifecycle, activations_managing_basic_with_namespace) "node_C", "test_ns"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); executor.add_node(node_c->get_node_base_interface()); @@ -1001,7 +1001,7 @@ TEST(rclcpp_cascade_lifecycle, activations_managing_late_joining_with_namespace) "node_B", "test_ns"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -1069,7 +1069,7 @@ TEST(rclcpp_cascade_lifecycle, activations_chained_with_namespace) "node_B", "test_ns"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -1176,7 +1176,7 @@ TEST(rclcpp_cascade_lifecycle, multiple_activations_chained_with_namespace) "node_C", "test_ns"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); executor.add_node(node_c->get_node_base_interface()); @@ -1362,7 +1362,7 @@ TEST(rclcpp_cascade_lifecycle, fast_change_with_namespace) "node_B", "test_ns"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -1408,7 +1408,7 @@ TEST(rclcpp_cascade_lifecycle, activators_disappearance_with_namespace) "node_B", "test_ns"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -1474,7 +1474,7 @@ TEST(rclcpp_cascade_lifecycle, activators_disappearance_inter_with_namespace) "node_C", "test_ns"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); executor.add_node(node_c->get_node_base_interface()); @@ -1830,7 +1830,7 @@ TEST(rclcpp_cascade_lifecycle, inheritance_with_namespace) "node_2", "test_ns"); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_1->get_node_base_interface()); executor.add_node(node_2->get_node_base_interface()); diff --git a/rclcpp_cascade_lifecycle/test/rclcpp_cascade_lifecycle_test_no_duplicates.cpp b/rclcpp_cascade_lifecycle/test/rclcpp_cascade_lifecycle_test_no_duplicates.cpp index 9fc270b..b1eaaec 100644 --- a/rclcpp_cascade_lifecycle/test/rclcpp_cascade_lifecycle_test_no_duplicates.cpp +++ b/rclcpp_cascade_lifecycle/test/rclcpp_cascade_lifecycle_test_no_duplicates.cpp @@ -79,7 +79,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activations_managing_basic) auto node_b = std::make_shared("node_B", options); auto node_c = std::make_shared("node_C", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); executor.add_node(node_c->get_node_base_interface()); @@ -113,7 +113,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activations_managing_late_joining) auto node_a = std::make_shared("node_A", options); auto node_b = std::make_shared("node_B", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -177,7 +177,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activations_chained) auto node_a = std::make_shared("node_A", options); auto node_b = std::make_shared("node_B", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -282,7 +282,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, multiple_activations_chained) auto node_b = std::make_shared("node_B", options); auto node_c = std::make_shared("node_C", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); executor.add_node(node_c->get_node_base_interface()); @@ -468,7 +468,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, fast_change) auto node_a = std::make_shared("node_A", options); auto node_b = std::make_shared("node_B", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -514,7 +514,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activators_disappearance) auto node_a = std::make_shared("node_A", options); auto node_b = std::make_shared("node_B", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -578,7 +578,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activators_disappearance_inter) auto node_b = std::make_shared("node_B", options); auto node_c = std::make_shared("node_C", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); executor.add_node(node_c->get_node_base_interface()); @@ -934,7 +934,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, inheritance) auto node_1 = std::make_shared("node_1", "", options); auto node_2 = std::make_shared("node_2", "", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_1->get_node_base_interface()); executor.add_node(node_2->get_node_base_interface()); @@ -1007,7 +1007,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activations_managing_basic_with_nam "test_ns", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); executor.add_node(node_c->get_node_base_interface()); @@ -1047,7 +1047,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activations_managing_late_joining_w "test_ns", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -1122,7 +1122,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activations_chained_with_namespace) "test_ns", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -1236,7 +1236,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, multiple_activations_chained_with_n "test_ns", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); executor.add_node(node_c->get_node_base_interface()); @@ -1428,7 +1428,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, fast_change_with_namespace) "test_ns", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -1480,7 +1480,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activators_disappearance_with_names "test_ns", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); @@ -1553,7 +1553,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activators_disappearance_inter_with "test_ns", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_a->get_node_base_interface()); executor.add_node(node_b->get_node_base_interface()); executor.add_node(node_c->get_node_base_interface()); @@ -1915,7 +1915,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, inheritance_with_namespace) "test_ns", options); - rclcpp::executors::SingleThreadedExecutor executor; + rclcpp::experimental::executors::EventsExecutor executor; executor.add_node(node_1->get_node_base_interface()); executor.add_node(node_2->get_node_base_interface()); From 5f9023b00b7f8ea9cbc950a7bf6a3d7f9498f93d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Fri, 8 Nov 2024 06:48:12 +0100 Subject: [PATCH 2/4] Update CI actions MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Francisco Martín Rico --- .github/workflows/rolling.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/rolling.yaml b/.github/workflows/rolling.yaml index d4d06cf..91caa72 100644 --- a/.github/workflows/rolling.yaml +++ b/.github/workflows/rolling.yaml @@ -20,11 +20,11 @@ jobs: fail-fast: false steps: - name: Setup ROS 2 - uses: ros-tooling/setup-ros@0.7.1 + uses: ros-tooling/setup-ros@0.7.9 with: required-ros-distributions: rolling - name: build and test - uses: ros-tooling/action-ros-ci@0.3.6 + uses: ros-tooling/action-ros-ci@0.3.13 with: package-name: rclcpp_cascade_lifecycle rclpy_cascade_lifecycle cascade_lifecycle_msgs target-ros2-distro: rolling From 7c13741f149b687f97678470ce40d86d76d583b4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Fri, 8 Nov 2024 06:49:44 +0100 Subject: [PATCH 3/4] Update CI actions MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Francisco Martín Rico --- .github/workflows/jazzy-devel.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/jazzy-devel.yaml b/.github/workflows/jazzy-devel.yaml index acbad79..32f2095 100644 --- a/.github/workflows/jazzy-devel.yaml +++ b/.github/workflows/jazzy-devel.yaml @@ -20,11 +20,11 @@ jobs: fail-fast: false steps: - name: Setup ROS 2 - uses: ros-tooling/setup-ros@0.7.1 + uses: ros-tooling/setup-ros@0.7.9 with: required-ros-distributions: jazzy - name: build and test - uses: ros-tooling/action-ros-ci@0.3.6 + uses: ros-tooling/action-ros-ci@0.3.13 with: package-name: rclcpp_cascade_lifecycle rclcpy_cascade_lifecycle cascade_lifecycle_msgs target-ros2-distro: jazzy From a5a5521f706ba70b82d85735eedfb6062d5ec1f4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Fri, 8 Nov 2024 06:52:26 +0100 Subject: [PATCH 4/4] Fix CI actions for jazzy MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Francisco Martín Rico --- .github/workflows/jazzy-devel.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/jazzy-devel.yaml b/.github/workflows/jazzy-devel.yaml index 32f2095..0bcc7af 100644 --- a/.github/workflows/jazzy-devel.yaml +++ b/.github/workflows/jazzy-devel.yaml @@ -3,10 +3,10 @@ name: jazzy-devel on: pull_request: branches: - - jazzy + - jazzy-devel push: branches: - - jazzy + - jazzy-devel workflow_dispatch: schedule: - cron: '0 0 * * 0'