From 80a8808bcf09143e37ad21f3a76b125a6feb9ff1 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Sat, 12 Oct 2024 09:32:35 +0200 Subject: [PATCH 01/10] Set parallel test therads to 1 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 | 8 +++++++- .github/workflows/rolling-devel.yaml | 2 +- .github/workflows/rolling.yaml | 8 +++++++- 3 files changed, 15 insertions(+), 3 deletions(-) diff --git a/.github/workflows/jazzy-devel.yaml b/.github/workflows/jazzy-devel.yaml index 81973a2..5d85eba 100644 --- a/.github/workflows/jazzy-devel.yaml +++ b/.github/workflows/jazzy-devel.yaml @@ -26,8 +26,14 @@ jobs: - name: build and test uses: ros-tooling/action-ros-ci@0.3.6 with: - package-name: rclcpp_cascade_lifecycle cascade_lifecycle_msgs + package-name: rclcpp_cascade_lifecycle rclcpy_cascade_lifecycle cascade_lifecycle_msgs target-ros2-distro: jazzy + colcon-defaults: | + { + "test": { + "parallel-workers" : 1 + } + } vcs-repo-file-url: "" colcon-mixin-name: coverage-gcc colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml diff --git a/.github/workflows/rolling-devel.yaml b/.github/workflows/rolling-devel.yaml index 9360d31..af9394d 100644 --- a/.github/workflows/rolling-devel.yaml +++ b/.github/workflows/rolling-devel.yaml @@ -26,7 +26,7 @@ jobs: - name: build and test uses: ros-tooling/action-ros-ci@0.3.6 with: - package-name: rclcpp_cascade_lifecycle cascade_lifecycle_msgs + package-name: rclcpp_cascade_lifecycle rclcpy_cascade_lifecycle cascade_lifecycle_msgs target-ros2-distro: rolling vcs-repo-file-url: "" colcon-mixin-name: coverage-gcc diff --git a/.github/workflows/rolling.yaml b/.github/workflows/rolling.yaml index 7b2811c..23f5dbd 100644 --- a/.github/workflows/rolling.yaml +++ b/.github/workflows/rolling.yaml @@ -26,8 +26,14 @@ jobs: - name: build and test uses: ros-tooling/action-ros-ci@0.3.6 with: - package-name: rclcpp_cascade_lifecycle cascade_lifecycle_msgs + package-name: rclcpp_cascade_lifecycle rclpy_cascade_lifecycle cascade_lifecycle_msgs target-ros2-distro: rolling + colcon-defaults: | + { + "test": { + "parallel-workers" : 1 + } + } vcs-repo-file-url: "" colcon-mixin-name: coverage-gcc colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml From ddec4383bedac469f65c12557c3f3085e80f4a50 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Sat, 12 Oct 2024 09:33:53 +0200 Subject: [PATCH 02/10] Set CI name 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 | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/jazzy-devel.yaml b/.github/workflows/jazzy-devel.yaml index 5d85eba..89a2e36 100644 --- a/.github/workflows/jazzy-devel.yaml +++ b/.github/workflows/jazzy-devel.yaml @@ -1,4 +1,4 @@ -name: jazzy +name: jazzy-devel on: pull_request: From e2081a9b62bb2bbaba52d5053400c1d2b3902498 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Sat, 12 Oct 2024 09:47:05 +0200 Subject: [PATCH 03/10] Explicit removal of node from executor before destroy in no dups MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Francisco Martín Rico --- .../test/rclcpp_cascade_lifecycle_test_no_duplicates.cpp | 4 ++++ 1 file changed, 4 insertions(+) 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 07d2b3a..9fc270b 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 @@ -134,6 +134,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activations_managing_late_joining) ASSERT_TRUE(node_b->get_activations().empty()); ASSERT_EQ(node_b->get_activators().size(), 1u); + executor.remove_node(node_b->get_node_base_interface()); node_b = nullptr; { @@ -549,6 +550,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activators_disappearance) ASSERT_EQ(node_a->get_current_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE); ASSERT_EQ(node_b->get_current_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE); + executor.remove_node(node_a->get_node_base_interface()); node_a = nullptr; { @@ -1066,6 +1068,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activations_managing_late_joining_w ASSERT_TRUE(node_b->get_activations().empty()); ASSERT_EQ(node_b->get_activators().size(), 1u); + executor.remove_node(node_b->get_node_base_interface()); node_b = nullptr; { @@ -1513,6 +1516,7 @@ TEST(rclcpp_cascade_lifecycle_no_duplicates, activators_disappearance_with_names ASSERT_EQ(node_a->get_current_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE); ASSERT_EQ(node_b->get_current_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE); + executor.remove_node(node_a->get_node_base_interface()); node_a = nullptr; { From 7b36701c75020054ba79ab6b1ec4a3fd56f2b30d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Sat, 12 Oct 2024 09:49:18 +0200 Subject: [PATCH 04/10] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 3906c25..c976863 100644 --- a/README.md +++ b/README.md @@ -5,7 +5,7 @@ [![galactic-devel](https://github.com/fmrico/cascade_lifecycle/actions/workflows/galactic-devel.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/galactic-devel.yaml) [![humble-devel](https://github.com/fmrico/cascade_lifecycle/actions/workflows/humble-devel.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/humble-devel.yaml) [![iron-devel](https://github.com/fmrico/cascade_lifecycle/actions/workflows/iron-devel.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/iron-devel.yaml) -[![jazzy-devel](https://github.com/fmrico/cascade_lifecycle/actions/workflows/jazzy-devel.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/jazzy-devel.yaml) +[![rolling](https://github.com/fmrico/cascade_lifecycle/actions/workflows/rolling.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/rolling.yaml) [![rolling-devel](https://github.com/fmrico/cascade_lifecycle/actions/workflows/rolling-devel.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/rolling-devel.yaml) [Managed nodes](https://design.ros2.org/articles/node_lifecycle.html) (or lifecycle nodes, LN) are an extremely useful concept in ROS2. It provides a mechanism to define states in a node so that its life cycle can be better controlled. From d6829f314bbe0d33c3de20a2e35a1e884d28a917 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Sat, 12 Oct 2024 09:51:27 +0200 Subject: [PATCH 05/10] Update README.md --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index c976863..3906c25 100644 --- a/README.md +++ b/README.md @@ -5,7 +5,7 @@ [![galactic-devel](https://github.com/fmrico/cascade_lifecycle/actions/workflows/galactic-devel.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/galactic-devel.yaml) [![humble-devel](https://github.com/fmrico/cascade_lifecycle/actions/workflows/humble-devel.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/humble-devel.yaml) [![iron-devel](https://github.com/fmrico/cascade_lifecycle/actions/workflows/iron-devel.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/iron-devel.yaml) -[![rolling](https://github.com/fmrico/cascade_lifecycle/actions/workflows/rolling.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/rolling.yaml) +[![jazzy-devel](https://github.com/fmrico/cascade_lifecycle/actions/workflows/jazzy-devel.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/jazzy-devel.yaml) [![rolling-devel](https://github.com/fmrico/cascade_lifecycle/actions/workflows/rolling-devel.yaml/badge.svg)](https://github.com/fmrico/cascade_lifecycle/actions/workflows/rolling-devel.yaml) [Managed nodes](https://design.ros2.org/articles/node_lifecycle.html) (or lifecycle nodes, LN) are an extremely useful concept in ROS2. It provides a mechanism to define states in a node so that its life cycle can be better controlled. From 37d028df5da1e218a9745a8c6819943ce669ac64 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Sat, 12 Oct 2024 10:54:52 +0200 Subject: [PATCH 06/10] Update JAzzy CI to 24.04 --- .github/workflows/jazzy-devel.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/jazzy-devel.yaml b/.github/workflows/jazzy-devel.yaml index 89a2e36..acbad79 100644 --- a/.github/workflows/jazzy-devel.yaml +++ b/.github/workflows/jazzy-devel.yaml @@ -16,7 +16,7 @@ jobs: runs-on: ${{ matrix.os }} strategy: matrix: - os: [ubuntu-22.04] + os: [ubuntu-24.04] fail-fast: false steps: - name: Setup ROS 2 From ad2e905fc4bebcb436af177f35685bf60e821cdc Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Sat, 12 Oct 2024 10:55:21 +0200 Subject: [PATCH 07/10] Update rolling.yaml to 24.04 --- .github/workflows/rolling.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/.github/workflows/rolling.yaml b/.github/workflows/rolling.yaml index 23f5dbd..d4d06cf 100644 --- a/.github/workflows/rolling.yaml +++ b/.github/workflows/rolling.yaml @@ -16,7 +16,7 @@ jobs: runs-on: ${{ matrix.os }} strategy: matrix: - os: [ubuntu-22.04] + os: [ubuntu-24.04] fail-fast: false steps: - name: Setup ROS 2 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 08/10] 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 cd53b043561aa2e8beda7c4e9aefc8bfd3b66ce3 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Fri, 8 Nov 2024 06:47:42 +0100 Subject: [PATCH 09/10] 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 5b56cef209e636c461d1c17805bc4821b0da3b57 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= Date: Fri, 8 Nov 2024 07:05:03 +0100 Subject: [PATCH 10/10] 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 acbad79..8534ce8 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'