🔖 0.12.0

README.md

@@ -48,36 +48,41 @@ This library provides a minimal implementation of a Ros2Node in Java. Two versio
 PeriodicThreadSchedulerFactory threadFactory = SystemUtils.IS_OS_LINUX ? // realtime threads only work on linux
       new PeriodicRealtimeThreadSchedulerFactory(20) :           // see https://github.com/ihmcrobotics/ihmc-realtime
       new PeriodicNonRealtimeThreadSchedulerFactory();                   // to setup realtime threads
-RealtimeRos2Node node = new RealtimeRos2Node(PubSubImplementation.FAST_RTPS, threadFactory, "NonRealtimeRos2PublishSubscribeExample", "");
-RealtimeRos2Publisher<Int64> publisher = node.createPublisher(Int64.getPubSubType().get(), "/example");
-RealtimeRos2Subscription<Int64> subscription = node.createSubscription(Int64.getPubSubType().get(), "/example");
+RealtimeRos2Node node = new RealtimeRos2Node(PubSubImplementation.FAST_RTPS, threadFactory, "NonRealtimeRos2PublishSubscribeExample", "/us/ihmc");
+RealtimeRos2Publisher<Int64> publisher = node.createPublisher(new Int64PubSubType(), "/example", Ros2QosProfile.KEEP_HISTORY(3), 10);
+RealtimeRos2Subscription<Int64> subscription = node.createQueuedSubscription(new Int64PubSubType(), "/example", Ros2QosProfile.KEEP_HISTORY(3), 10);
+
 
 node.spin(); // start the realtime node thread
 
 Int64 message = new Int64();
 for (int i = 0; i < 10; i++)
 {
    message.setData(i);
-   publisher.publish(message);  // publish
+   publisher.publish(message);
+   System.out.println("Sending: " + message);
 }
 
 Int64 incomingMessage = new Int64();
 while (!subscription.poll(incomingMessage))
    ; // just waiting for the first message
-System.out.println(incomingMessage); // first message
+System.out.println("Receiving: " + incomingMessage); // first message
 int i = 1;
 while (i < 10)
 {
-   if (subscription.poll(incomingMessage))  // poll for new messages
+   if (subscription.poll(incomingMessage))
    {
-      System.out.println(incomingMessage);
+      System.out.println("Receiving: " + incomingMessage);
       i++;
    }
    else
    {
       // no available messages
    }
 }
+System.out.println("Received all messages!");
+
+node.destroy();
 ```
 
 ## Note

build.gradle

@@ -5,7 +5,7 @@ buildscript {
       jcenter()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.14.0"
+      classpath "us.ihmc:ihmc-build:0.15.1"
    }
 }
 apply plugin: "us.ihmc.ihmc-build"

ihmc-ros2-library/build.gradle

@@ -6,7 +6,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.14.0"
+      classpath "us.ihmc:ihmc-build:0.15.1"
    }
 }
 
@@ -20,12 +20,13 @@ ihmc {
 }
 
 mainDependencies {
-   compile group: "us.ihmc", name: "ihmc-pub-sub", version: "0.8.3"
+   compile group: "us.ihmc", name: "ihmc-pub-sub", version: "0.9.0"
    compile group: "us.ihmc", name: "IHMCRealtime", version: "1.1.8"
    compile group: "us.ihmc", name: "ihmc-commons", version: "0.20.0"
 }
 
 testDependencies {
    compile group: "us.ihmc", name: "ros2-common-interfaces", version: version
    compile group: "us.ihmc", name: "ros2-msg-to-pubsub-generator-test", version: version
+   compile group: "us.ihmc", name: "ihmc-ci-core-api", version: "0.18.0"
 }

ihmc-ros2-library/settings.gradle

@@ -4,7 +4,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.14.0"
+      classpath "us.ihmc:ihmc-build:0.15.1"
    }
 }
 

ihmc-ros2-library/src/main/java/us/ihmc/ros2/RealtimeRos2Node.java

@@ -36,6 +36,7 @@
 public class RealtimeRos2Node
 {
    public static int THREAD_PERIOD_MICROSECONDS = 1000;
+   public static final int DEFAULT_QUEUE_SIZE = 10;
 
    private final Ros2NodeBasics node;
 
@@ -136,7 +137,7 @@ public RealtimeRos2Node(Ros2Node ros2Node, PeriodicThreadSchedulerFactory thread
     */
    public <T> RealtimeRos2Publisher<T> createPublisher(TopicDataType<T> topicDataType, String topicName) throws IOException
    {
-      return createPublisher(topicDataType, topicName, Ros2QosProfile.DEFAULT(), 10);
+      return createPublisher(topicDataType, topicName, Ros2QosProfile.DEFAULT(), DEFAULT_QUEUE_SIZE);
    }
 
    /**
@@ -186,7 +187,7 @@ public <T> RealtimeRos2Publisher<T> createPublisher(TopicDataType<T> topicDataTy
     */
    public <T> RealtimeRos2Subscription<T> createQueuedSubscription(TopicDataType<T> topicDataType, String topicName) throws IOException
    {
-      return createQueuedSubscription(topicDataType, topicName, Ros2QosProfile.DEFAULT(), 10);
+      return createQueuedSubscription(topicDataType, topicName, Ros2QosProfile.DEFAULT(), DEFAULT_QUEUE_SIZE);
    }
 
    /**

ihmc-ros2-library/src/main/java/us/ihmc/ros2/Ros2NodeBasics.java

@@ -17,6 +17,7 @@
 
 import java.io.IOException;
 
+import us.ihmc.commons.PrintTools;
 import us.ihmc.pubsub.Domain;
 import us.ihmc.pubsub.DomainFactory;
 import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
@@ -41,7 +42,7 @@
  */
 class Ros2NodeBasics
 {
-   public static final int ROS_DEFAULT_DOMAIN_ID = 0;
+   public static final int ROS_DEFAULT_DOMAIN_ID = domainFromEnvironment();
 
    private final Ros2Distro ros2Distro;
 
@@ -285,4 +286,28 @@ public void destroy()
       domain = null;
       participant = null;
    }
+
+   public static int domainFromEnvironment()
+   {
+      String rosDomainId = System.getenv("ROS_DOMAIN_ID");
+
+      int rosDomainIdAsInteger = 0; // default to 0
+
+      if (rosDomainId != null)
+      {
+         rosDomainId = rosDomainId.trim();
+         try
+         {
+            rosDomainIdAsInteger = Integer.valueOf(rosDomainId);
+         }
+         catch (NumberFormatException e)
+         {
+            PrintTools.warn("Environment variable ROS_DOMAIN_ID cannot be parsed as an integer: " + rosDomainId);
+         }
+      }
+
+      PrintTools.info(Ros2NodeBasics.class, "Default ROS_DOMAIN_ID: " + rosDomainIdAsInteger);
+
+      return rosDomainIdAsInteger;
+   }
 }

ihmc-ros2-library/src/test/java/us/ihmc/ros2/example/RealtimeRos2PublishSubscribeExample.java

@@ -22,6 +22,7 @@
 import us.ihmc.ros2.RealtimeRos2Node;
 import us.ihmc.ros2.RealtimeRos2Publisher;
 import us.ihmc.ros2.RealtimeRos2Subscription;
+import us.ihmc.ros2.Ros2QosProfile;
 import us.ihmc.util.PeriodicNonRealtimeThreadSchedulerFactory;
 import us.ihmc.util.PeriodicRealtimeThreadSchedulerFactory;
 import us.ihmc.util.PeriodicThreadSchedulerFactory;
@@ -45,9 +46,10 @@ public static void main(String[] args) throws IOException, InterruptedException
             new PeriodicRealtimeThreadSchedulerFactory(20) :           // see https://github.com/ihmcrobotics/ihmc-realtime
             new PeriodicNonRealtimeThreadSchedulerFactory();                   // to setup realtime threads
       RealtimeRos2Node node = new RealtimeRos2Node(PubSubImplementation.FAST_RTPS, threadFactory, "NonRealtimeRos2PublishSubscribeExample", "/us/ihmc");
-      RealtimeRos2Publisher<Int64> publisher = node.createPublisher(new Int64PubSubType(), "/example");
-      RealtimeRos2Subscription<Int64> subscription = node.createQueuedSubscription(new Int64PubSubType(), "/example");
+      RealtimeRos2Publisher<Int64> publisher = node.createPublisher(new Int64PubSubType(), "/example", Ros2QosProfile.KEEP_HISTORY(3), 10);
+      RealtimeRos2Subscription<Int64> subscription = node.createQueuedSubscription(new Int64PubSubType(), "/example", Ros2QosProfile.KEEP_HISTORY(3), 10);
 
+
       node.spin(); // start the realtime node thread
 
       Int64 message = new Int64();
@@ -61,7 +63,7 @@ public static void main(String[] args) throws IOException, InterruptedException
       Int64 incomingMessage = new Int64();
       while (!subscription.poll(incomingMessage))
          ; // just waiting for the first message
-      System.out.println(incomingMessage); // first message
+      System.out.println("Receiving: " + incomingMessage); // first message
       int i = 1;
       while (i < 10)
       {
@@ -75,5 +77,8 @@ public static void main(String[] args) throws IOException, InterruptedException
             // no available messages
          }
       }
+      System.out.println("Received all messages!");
+
+      node.destroy();
    }
 }

ros2-common-interfaces/build.gradle

@@ -8,7 +8,7 @@ buildscript {
       jcenter()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.14.0"
+      classpath "us.ihmc:ihmc-build:0.15.1"
       classpath "us.ihmc:ros2-msg-to-pubsub-generator:0.7.6-alpha"
       classpath "org.ajoberstar:grgit:2.1.0"
    }
@@ -40,7 +40,7 @@ ihmc {
 mainDependencies {
    compile group: "us.ihmc", name: "euclid-core", version: "0.4.13"
    compile group: "us.ihmc", name: "euclid", version: "0.7.5"
-   compile group: "us.ihmc", name: "ihmc-pub-sub", version: "0.8.3"
+   compile group: "us.ihmc", name: "ihmc-pub-sub", version: "0.9.0"
 }
 
 generatorDependencies {

ros2-common-interfaces/settings.gradle

@@ -4,7 +4,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.14.0"
+      classpath "us.ihmc:ihmc-build:0.15.1"
    }
 }
 

ros2-msg-to-idl-generator/build.gradle

@@ -4,7 +4,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.14.0"
+      classpath "us.ihmc:ihmc-build:0.15.1"
    }
 }
 apply plugin: "us.ihmc.ihmc-build"

ros2-msg-to-idl-generator/settings.gradle

@@ -4,7 +4,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.14.0"
+      classpath "us.ihmc:ihmc-build:0.15.1"
    }
 }
 

ros2-msg-to-pubsub-generator/build.gradle

@@ -4,7 +4,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.14.0"
+      classpath "us.ihmc:ihmc-build:0.15.1"
    }
 }
 apply plugin: "us.ihmc.ihmc-build"
@@ -28,12 +28,13 @@ dependencies {
 }
 
 mainDependencies {
-   compile group: "us.ihmc", name: "ihmc-pub-sub-generator", version: "0.8.3"
+   compile group: "us.ihmc", name: "ihmc-pub-sub-generator", version: "0.9.0"
    compile group: "us.ihmc", name: "ros2-msg-to-idl-generator", version: version
 }
 
 testDependencies {
-   compile group: "us.ihmc", name: "ihmc-pub-sub", version: "0.8.3"
+   compile group: "us.ihmc", name: "ihmc-pub-sub", version: "0.9.0"
+   compile group: "us.ihmc", name: "ihmc-ci-core-api", version: "0.18.0"
 }
 
 task show() {

ros2-msg-to-pubsub-generator/settings.gradle

@@ -4,7 +4,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.14.0"
+      classpath "us.ihmc:ihmc-build:0.15.1"
    }
 }
 

ros2-msg-to-pubsub-generator/src/test/generated-idl/ros_msgs/msg/BigNumSequence_.idl

@@ -12,7 +12,7 @@ module ros_msgs
       @TypeCode(type="ros_msgs::msg::dds_::BigNumSequence_")
       struct BigNumSequence
       {
-        sequence<ros_msgs::msg::dds::Num, 100> large_sequence;
+        sequence<ros_msgs::msg::dds::Num, 10000> large_sequence;
       };
     };
   };

ros2-msg-to-pubsub-generator/src/test/generated-java/ros_msgs/msg/dds/BigNumSequence.java

@@ -12,7 +12,7 @@ public class BigNumSequence extends Packet<BigNumSequence> implements Settable<B
 
    public BigNumSequence()
    {
-      large_sequence_ = new us.ihmc.idl.IDLSequence.Object<ros_msgs.msg.dds.Num> (100, new ros_msgs.msg.dds.NumPubSubType());
+      large_sequence_ = new us.ihmc.idl.IDLSequence.Object<ros_msgs.msg.dds.Num> (10000, new ros_msgs.msg.dds.NumPubSubType());
 
    }
 

ros2-msg-to-pubsub-generator/src/test/generated-java/ros_msgs/msg/dds/BigNumSequencePubSubType.java

@@ -40,7 +40,7 @@ public static int getMaxCdrSerializedSize(int current_alignment)
    {
       int initial_alignment = current_alignment;
 
-      current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4);for(int i0 = 0; i0 < 100; ++i0)
+      current_alignment += 4 + us.ihmc.idl.CDR.alignment(current_alignment, 4);for(int i0 = 0; i0 < 10000; ++i0)
       {
           current_alignment += ros_msgs.msg.dds.NumPubSubType.getMaxCdrSerializedSize(current_alignment);}
       return current_alignment - initial_alignment;
@@ -65,7 +65,7 @@ public final static int getCdrSerializedSize(ros_msgs.msg.dds.BigNumSequence dat
 
    public static void write(ros_msgs.msg.dds.BigNumSequence data, us.ihmc.idl.CDR cdr)
    {
-      if(data.getLargeSequence().size() <= 100)
+      if(data.getLargeSequence().size() <= 10000)
       cdr.write_type_e(data.getLargeSequence());else
           throw new RuntimeException("large_sequence field exceeds the maximum length");
 

ros2-msg-to-pubsub-generator/src/test/ros_msgs/msg/BigNumSequence.msg

@@ -1 +1 @@
-Num[<=100] large_sequence
+Num[<=10000] large_sequence

settings.gradle

@@ -4,7 +4,7 @@ buildscript {
       mavenLocal()
    }
    dependencies {
-      classpath "us.ihmc:ihmc-build:0.14.0"
+      classpath "us.ihmc:ihmc-build:0.15.1"
    }
 }