Implement functions to get publisher and subcription informations like QoS policies from topic name #454

jaisontj · 2019-10-29T20:22:33Z

NOTE: DO NOT MERGE until rmw #186, rmw_implementation #72 and rcl #511 are merged.

This PR makes the necessary changes to implement this feature request. The RCLPY layer needs to expose functions to the ros2cli layer such that ros2 topic info <topic_name> can display publisher and subscriptions information for the given topic_name.

Summary of changes:

Added a new helper function in common.h/c to convert rmw_topic_info_array_t to a Python list of dictionaries.
Added get_publishers_info_by_topic and get_subscriptions_info_by_topic in node.py
Added rclpy_get_publishers_info_by_topic and
rclpy_get_subscriptions_information_by_topic in _rclpy.c
Added tests for node.get_publishers_info_by_topic and
node.get_subscriptions_info_by_topic

Related to issues in aws-roadmap #85

rclpy/test/test_node.py

rclpy/rclpy/node.py

rclpy/src/rclpy/_rclpy.c

rclpy/test/test_node.py

piraka9011

LGTM

rclpy/test/test_node.py

rclpy/src/rclpy/_rclpy.c

rclpy/src/rclpy_common/src/common.c

ivanpauno

Looks good. Two minor comments

rclpy/src/rclpy_common/src/common.c

rclpy/rclpy/node.py

rclpy/src/rclpy/_rclpy.c

hidmic

LGTM but for the last nit standing

rclpy/src/rclpy/_rclpy.c

ivanpauno

Left a minimal comment, otherwise LGTM!

rclpy/src/rclpy/_rclpy.c

Signed-off-by: Miaofei <[email protected]>

mm318 · 2020-02-07T11:02:38Z

Sorry for the delay. I haven't been able to get around to finishing the rclpy implementation to match rclcpp. It will be finished by tomorrow.

mm318 · 2020-02-07T19:44:11Z

I have added topic name remapping to _get_info_by_topic() in rclpy, so now it behaves like the rclcpp one. Please re-review, @wjwwood and @ivanpauno. Thanks!

Signed-off-by: Miaofei <[email protected]>

wjwwood

lgtm, setting aside some small comments.

wjwwood · 2020-02-07T21:12:17Z

rclpy/rclpy/node.py

+            return infos
+
+    def get_publishers_info_by_topic(
+            self, topic_name: str, no_mangle: bool = False) -> List[TopicEndpointInfo]:


This style doesn't look correct to me, I'd expect:

def get_publishers_info_by_topic( self, topic_name: str, no_mangle: bool = False ) -> List[TopicEndpointInfo]: """ ... """ # ...

Or

def get_publishers_info_by_topic( self, topic_name: str, no_mangle: bool = False ) -> List[TopicEndpointInfo]: """ ... """ # ...

There are a few other places this applies in this pull request.

wjwwood · 2020-02-07T21:21:18Z

rclpy/rclpy/node.py

+    def get_publishers_info_by_topic(
+            self, topic_name: str, no_mangle: bool = False) -> List[TopicEndpointInfo]:
+        """
+        Return a list of publishers publishing to a given topic.


nitpick: a publisher doesn't need to be "publishing" on the topic to be seen here, technically I'd say "list of publishers on a given topic" or "list of publishers that have advertised on a given topic"

Signed-off-by: Miaofei <[email protected]>

ivanpauno

LGTM!

ivanpauno · 2020-02-10T14:05:44Z

Linux
Linux-aarch64
macOS
macOS

ivanpauno · 2020-02-10T15:21:06Z

@mm318 can you check the build failures?

mm318 · 2020-02-10T15:25:03Z

@mm318 can you check the build failures?

Hi @ivanpauno, did you include the changes in ros2/rcl#558?

ivanpauno · 2020-02-10T15:40:55Z

Hi @ivanpauno, did you include the changes in ros2/rcl#558?

Thanks! I didn't remember about that PR.

Another run:

Linux
Linux-aarch64
macOS
Windows

ivanpauno · 2020-02-10T20:20:57Z

@mm318 The errors seem to be due to the following:

Linters errors have probably already been solved in master, can you rebase?
macOS failure is unrelated (I will run it again when that's fixed).
Windows failures are because of RCLCPP PUBLIC missing in some places.

Signed-off-by: Miaofei <[email protected]>

mm318 · 2020-02-12T05:10:19Z

The issues found on Linux and Windows should be fixed now.

ivanpauno · 2020-02-12T13:51:58Z

Linux
Linux-aarch64
macOS (unrelated problem in macOS CI)
Windows

wjwwood · 2020-02-12T19:56:02Z

Once the fastrtps issue is fixed, can you re-run these @ivanpauno?

ivanpauno · 2020-02-13T14:01:40Z

Linux
Linux-aarch64
macOS (unrelated failures)
Windows

mm318 · 2020-02-14T19:21:32Z

I think the test failures in the Windows build are unrelated. What do you think?

ivanpauno · 2020-02-14T19:33:54Z

I think the test failures in the Windows build are unrelated. What do you think?

Yes, I'm wating the macOS job.

ivanpauno · 2020-02-14T20:22:16Z

Merging! Thanks @jaisontj @mm318 for pushing this!!

jaisontj changed the title ~~- Added and implemented get_publishers_info_by_topic and get_subscrip…~~ Implement functions to get publisher and subcription informations like QoS policies from topic name Oct 29, 2019

jaisontj commented Oct 29, 2019

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jaisontj mentioned this pull request Oct 29, 2019

Enhanced ros2 topic info to display node name, node namespace, topic type and qos profile of the publishers and subscribers. ros2/ros2cli#385

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jaisontj marked this pull request as ready for review November 6, 2019 18:00

jaisontj mentioned this pull request Nov 6, 2019

Adding required structs and methods to get a list of publishers or subscribers with their respective qos ros2/rmw#186

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jaisontj force-pushed the jaisontj/impl_qos_in_topic_info branch 2 times, most recently from 08075e4 to 982a88e Compare November 12, 2019 19:27

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jaisontj force-pushed the jaisontj/impl_qos_in_topic_info branch from a89e0a9 to c17c401 Compare November 19, 2019 22:16

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mm318 mentioned this pull request Dec 11, 2019

Implement functions to get publisher and subcription information from topic name ros2/rclcpp#943

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mm318 force-pushed the jaisontj/impl_qos_in_topic_info branch from f205f2a to 140e9d3 Compare December 28, 2019 03:24

mm318 mentioned this pull request Jan 3, 2020

Stub functions to get publisher and subcription informations like QoS policies from topic name ros2/rclcpp#959

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wjwwood self-assigned this Jan 9, 2020

This was referenced Jan 14, 2020

Implement functions to get publisher and subcription informations like QoS policies from topic name ros2/rclcpp#960

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Fix some doc strings regarding no_mangle input parameter ros2/rcl#557

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mm318 force-pushed the jaisontj/impl_qos_in_topic_info branch from a3272a5 to 50018e8 Compare January 20, 2020 22:30

mm318 added 8 commits February 7, 2020 00:53

fix doc strings

214c113

Signed-off-by: Miaofei <[email protected]>

replace use of PyExc_RuntimeError with RCLError

c768a53

Signed-off-by: Miaofei <[email protected]>

address more PR comments

f126ec5

Signed-off-by: Miaofei <[email protected]>

fix bad return value comparison types

5933310

Signed-off-by: Miaofei <[email protected]>

implement and use TopicEndpointInfo object

327554c

Signed-off-by: Miaofei <[email protected]>

change comparison order to (literal == variable)

536620a

Signed-off-by: Miaofei <[email protected]>

fix pep257 issue

6a4486f

Signed-off-by: Miaofei <[email protected]>

update docstring

1723927

Signed-off-by: Miaofei <[email protected]>

mm318 force-pushed the jaisontj/impl_qos_in_topic_info branch from cc07683 to 3a0c105 Compare February 7, 2020 19:42

add topic name remapping

b34b127

Signed-off-by: Miaofei <[email protected]>

mm318 force-pushed the jaisontj/impl_qos_in_topic_info branch from 3a0c105 to b34b127 Compare February 7, 2020 20:08

wjwwood approved these changes Feb 8, 2020

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address PR comments

1ac4677

Signed-off-by: Miaofei <[email protected]>

ivanpauno approved these changes Feb 10, 2020

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fix CI build failures

96946b7

Signed-off-by: Miaofei <[email protected]>

ivanpauno merged commit 17a0854 into ros2:master Feb 14, 2020

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Implement functions to get publisher and subcription informations like QoS policies from topic name #454

Implement functions to get publisher and subcription informations like QoS policies from topic name #454

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Implement functions to get publisher and subcription informations like QoS policies from topic name #454

Implement functions to get publisher and subcription informations like QoS policies from topic name #454

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