Add liveliness and lease duration to pub and echo #665

NourS-d · 2021-09-01T20:01:02Z

Closes Issue #614

NourS-d · 2021-09-01T20:11:40Z

Pub

$ ros2 topic pub /demo/test_demo geometry_msgs/Twist '{linear: {x: -0.0}}' --qos-liveliness-lease-duration 20e9

Echo

$ ros2 topic echo /demo/test_demo geometry_msgs/Twist --qos-liveliness-lease-duration 20e9 
1630525300.053282 [0]       ros2: using network interface wlp2s0 (udp/192.168.43.167) selected arbitrarily from: wlp2s0, docker0
linear:
  x: -0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0
---
$ ros2 topic echo /demo/test_demo geometry_msgs/Twist --qos-liveliness-lease-duration 30e9 
1630525306.729698 [0]       ros2: using network interface wlp2s0 (udp/192.168.43.167) selected arbitrarily from: wlp2s0, docker0
linear:
  x: -0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0
---
$ ros2 topic echo /demo/test_demo geometry_msgs/Twist --qos-liveliness-lease-duration 10e9 
1630525312.813764 [0]       ros2: using network interface wlp2s0 (udp/192.168.43.167) selected arbitrarily from: wlp2s0, docker0
[WARN] [1630525313.416047065] [_ros2cli_121115]: New publisher discovered on topic '/demo/test_demo', offering incompatible QoS. No messages will be received from it. Last incompatible policy: LIVELINESS

NourS-d · 2021-09-01T20:38:24Z

@audrow Hello, I created a PR for this since it looked relatively straightforward.
#614 (comment)
Do you believe some special reasoning is needed for liveliness?

fujitatomoya

just one nit, could you fix it?

ros2topic/ros2topic/verb/echo.py

audrow

Just a couple nitpicks - thanks for the PR!

ros2topic/ros2topic/api/__init__.py

ros2topic/test/test_qos_conversions.py

audrow · 2021-09-10T22:14:30Z

@ros-pull-request-builder retest this please. (I'm not sure if the last change broke something, I doubt it did.)

audrow · 2021-09-10T22:19:39Z

Do you believe some special reasoning is needed for liveliness?

I'm not sure. @ivanpauno or @jacobperron, any idea?

ivanpauno

I have a few comments/questions

ros2topic/ros2topic/api/__init__.py

jacobperron

Looks okay to me, with Ivan's comments addressed. One bug fix suggested below.

ros2topic/ros2topic/verb/echo.py

ros2topic/ros2topic/api/__init__.py

ivanpauno · 2021-10-25T13:14:54Z

@NourS-d friendly ping

ivanpauno

LGTM with green CI!

ivanpauno · 2021-12-20T19:39:42Z

@ros-pull-request-builder retest this please

ivanpauno · 2021-12-20T19:41:55Z

CI:

Linux
Linux-aarch64
macOS
Windows

ivanpauno · 2021-12-21T12:48:05Z

there are some new failures in CI, but maybe this just needs a rebase.
@NourS-d could you rebase with master?

If you can also check if you can reproduce the test failures locally that would be great.

audrow · 2021-12-23T00:29:58Z

I rebased - it seems that the same error is present in the failing PR job. It seems to be a key error.

Traceback (most recent call last):
  File "/tmp/ws/src/ros2cli/ros2topic/test/test_cli.py", line 760, in test_topic_pub_print_every_two
    assert topic_command.wait_for_output(functools.partial(
AssertionError: Output does not match: Failed to load entry point 'pub': cannot import name 'nonnegative_int' from 'ros2topic.api' (/tmp/ws/install_isolated/ros2topic/lib/python3.8/site-packages/ros2topic/api/__init__.py)
  Traceback (most recent call last):
    File "/tmp/ws/install_isolated/ros2cli/bin/ros2", line 33, in <module>
      sys.exit(load_entry_point('ros2cli==0.15.0', 'console_scripts', 'ros2')())
    File "/tmp/ws/install_isolated/ros2cli/lib/python3.8/site-packages/ros2cli/cli.py", line 50, in main
      add_subparsers_on_demand(
    File "/tmp/ws/install_isolated/ros2cli/lib/python3.8/site-packages/ros2cli/command/__init__.py", line 250, in add_subparsers_on_demand
      extension.add_arguments(
    File "/tmp/ws/install_isolated/ros2topic/lib/python3.8/site-packages/ros2topic/command/topic.py", line 29, in add_arguments
      add_subparsers_on_demand(
    File "/tmp/ws/install_isolated/ros2cli/lib/python3.8/site-packages/ros2cli/command/__init__.py", line 237, in add_subparsers_on_demand
      extension = command_extensions[name]
  KeyError: 'pub'

fujitatomoya · 2021-12-28T00:00:05Z

cannot import name 'nonnegative_int' from 'ros2topic.api' (/tmp/ws/install_isolated/ros2topic/lib/python3.8/site-packages/ros2topic/api/init.py)

nonnegative_int has been removed, i think it should be moved to ros2topic/ros2topic/api/__init__.py.

audrow · 2022-04-27T22:37:33Z

@NourS-d, would you like to get this in?

NourS-d · 2022-04-28T05:59:14Z

ATM I unfortunately cannot follow up here. However, in two weeks time I can get into it again. But if you'd like to go ahead :)

…

On Thu, Apr 28, 2022 at 12:37 AM Audrow Nash ***@***.***> wrote: @NourS-d <https://github.com/NourS-d>, would you like to get this in? — Reply to this email directly, view it on GitHub <#665 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AJTBCVWVET6IXGXXX3YJHS3VHG6TRANCNFSM5DHIMKAQ> . You are receiving this because you were mentioned.Message ID: ***@***.***>

audrow · 2022-04-28T16:23:54Z

@Mergifyio rebase

Closes Issue ros2#614 Signed-off-by: Nour Saeed <[email protected]>

Signed-off-by: Nour Saeed <[email protected]>

mergify · 2022-04-28T16:24:12Z

rebase

✅ Branch has been successfully rebased

NourS-d force-pushed the saeed/add-liveliness-and-duration branch from 728ebed to d375c91 Compare September 1, 2021 20:02

NourS-d force-pushed the saeed/add-liveliness-and-duration branch from d375c91 to 54bc7ed Compare September 1, 2021 20:30

NourS-d marked this pull request as ready for review September 1, 2021 20:31

fujitatomoya requested changes Sep 8, 2021

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audrow requested changes Sep 9, 2021

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audrow self-assigned this Sep 9, 2021

NourS-d force-pushed the saeed/add-liveliness-and-duration branch from 54bc7ed to 03dfdba Compare September 10, 2021 19:44

NourS-d requested review from audrow and fujitatomoya September 10, 2021 20:18

fujitatomoya approved these changes Sep 10, 2021

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ivanpauno requested changes Sep 13, 2021

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jacobperron reviewed Oct 5, 2021

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NourS-d force-pushed the saeed/add-liveliness-and-duration branch from 538c4b8 to 2295f64 Compare October 31, 2021 12:08

NourS-d requested a review from ivanpauno October 31, 2021 12:08

ivanpauno approved these changes Dec 20, 2021

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audrow force-pushed the saeed/add-liveliness-and-duration branch 2 times, most recently from 98abe76 to 2b72a29 Compare December 23, 2021 00:19

audrow removed their request for review April 27, 2022 22:37

NourS-d added 2 commits April 28, 2022 16:24

Add liveliness and lease duration to pub and echo

96db1e4

Closes Issue ros2#614 Signed-off-by: Nour Saeed <[email protected]>

Parametrize liveliness in qos conversion test

85bc897

Signed-off-by: Nour Saeed <[email protected]>

clalancette force-pushed the saeed/add-liveliness-and-duration branch from 2b72a29 to 85bc897 Compare April 28, 2022 16:24

audrow changed the base branch from master to rolling June 28, 2022 14:23

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Add liveliness and lease duration to pub and echo #665

Add liveliness and lease duration to pub and echo #665

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