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Decouple rosout publisher init from node init.#1065

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fujitatomoya merged 4 commits into
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fujitatomoya/bugfix-20230427-rclcpp-issue-2147
Sep 22, 2023
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Decouple rosout publisher init from node init.#1065
fujitatomoya merged 4 commits into
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fujitatomoya/bugfix-20230427-rclcpp-issue-2147

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@fujitatomoya

@fujitatomoya fujitatomoya commented Apr 27, 2023 •
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fujitatomoya
fujitatomoya commented Apr 27, 2023
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Comment thread rcl/src/rcl/node.c
This was referenced Apr 27, 2023
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@clalancette clalancette self-assigned this May 4, 2023
@fujitatomoya

fujitatomoya commented Jun 15, 2023

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@iuhilnehc-ynos can you review those PRs?

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iuhilnehc-ynos commented Jun 16, 2023

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LGTM.

There is a tiny issue I can think of,
How can we notify users, whose applications only depend on rcl rather than rclc/rclcpp/rclpy, to add the rosout publisher manually? I don't know if we should consider it or not.

@fujitatomoya

fujitatomoya commented Jun 16, 2023 •
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How can we notify users, whose applications only depend on rcl rather than rclc/rclcpp/rclpy, to add the rosout publisher manually? I don't know if we should consider it or not.

good question, let me check if there is at least doc mentions that with this change.

edit: i think that is clear that user can call this function after rcl_node_init which creates rcl_node_t.

rcl/rcl/include/rcl/logging_rosout.h

Lines 98 to 99 in 230ae2f

* Calling this for an rcl_node_t will create a new publisher on that node that will be
* used by the logging system to publish all log messages from that Node's logger.

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fujitatomoya commented Jun 16, 2023

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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

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fujitatomoya commented Jun 17, 2023

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CI (retry):

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fujitatomoya commented Jun 18, 2023 •
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the other failures are unrelated, ModuleNotFoundError: No module named 'rclpy.type_hash'.

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fujitatomoya commented Jun 18, 2023

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CI:

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@fujitatomoya fujitatomoya force-pushed the fujitatomoya/bugfix-20230427-rclcpp-issue-2147 branch from 91f7580 to 3f706e6 Compare June 19, 2023 18:22
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fujitatomoya commented Jun 19, 2023

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CI(rebase)

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fujitatomoya commented Jun 20, 2023

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  • Windows Build Status

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fujitatomoya commented Jun 20, 2023

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windows has been meeting some CI instability, i am not sure what is wrong...

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fujitatomoya commented Jun 20, 2023 •
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CI(windows only w/o rclc):

  • Windows Build Status

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fujitatomoya commented Jun 21, 2023

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https://ci.ros2.org/job/ci_windows/19758/testReport/ is unrelated.

clalancette
clalancette requested changes Jun 21, 2023
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Comment thread rcl/src/rcl/node.c
@fujitatomoya fujitatomoya mentioned this pull request Sep 11, 2023
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@fujitatomoya fujitatomoya force-pushed the fujitatomoya/bugfix-20230427-rclcpp-issue-2147 branch from 3f706e6 to 1113c68 Compare September 11, 2023 19:22
fujitatomoya
fujitatomoya commented Sep 11, 2023
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Comment thread rcl/src/rcl/node.c
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fujitatomoya commented Sep 18, 2023

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either @iuhilnehc-ynos or @Barry-Xu-2018 could you do review on the related PRs?

iuhilnehc-ynos
iuhilnehc-ynos reviewed Sep 19, 2023
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Two minor comments.

Comment thread rcl/test/rcl/test_graph.cpp
Comment thread rcl/test/rcl/test_logging_rosout.cpp Outdated
iuhilnehc-ynos
iuhilnehc-ynos reviewed Sep 20, 2023
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Comment thread rcl/test/rcl/test_graph.cpp Outdated
Tomoya Fujita added 4 commits September 20, 2023 11:21
Decouple rosout publisher init from node init.
cef9193 
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
Decouple rosout publisher fini from node fini.
ce0471e 
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
address review comment.
5abc429 
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
add node_option check.
cefce8a 
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
@fujitatomoya fujitatomoya force-pushed the fujitatomoya/bugfix-20230427-rclcpp-issue-2147 branch from d29753f to cefce8a Compare September 20, 2023 18:22
fujitatomoya
fujitatomoya commented Sep 20, 2023
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CC: @iuhilnehc-ynos

because of 7b9c1ec, i needed to rebase but it actually makes it simplified.

@fujitatomoya

fujitatomoya commented Sep 20, 2023

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@fujitatomoya

fujitatomoya commented Sep 21, 2023 •
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my bad 😓 sorry about that.

CI:

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@fujitatomoya

fujitatomoya commented Sep 21, 2023

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https://ci.ros2.org/job/ci_windows/20261/ fails with unrelated things in rclc, so for windows i will restart the CI w/o rclc.

CI(windows, w/o rclc):

  • Windows Build Status

@fujitatomoya

fujitatomoya commented Sep 22, 2023

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@clalancette i will go ahead to merge this with @iuhilnehc-ynos 's approval.

@fujitatomoya fujitatomoya merged commit 1260197 into rolling Sep 22, 2023
@delete-merged-branch delete-merged-branch Bot deleted the fujitatomoya/bugfix-20230427-rclcpp-issue-2147 branch September 22, 2023 01:44
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@clalancette clalancette clalancette requested changes
@iuhilnehc-ynos iuhilnehc-ynos iuhilnehc-ynos approved these changes
@audrow audrow Awaiting requested review from audrow
@ivanpauno ivanpauno Awaiting requested review from ivanpauno
@wjwwood wjwwood Awaiting requested review from wjwwood

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