Support intra-process communication between Clients and Services #1847

mauropasse · 2021-12-16T21:37:45Z

These changes extend the intra-process capabilities to support intra-process client/services communication, so no need to go through the DDS when sending client requests / services responses, when they belong to the same process.

Missing: Add unit tests.
Design: https://github.com/mauropasse/design/blob/mauro/gh-pages-ipc-clients-services/articles/intraprocess_communication.md

@clalancette
@alsora

alsora · 2022-03-18T14:16:03Z

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alsora · 2022-03-21T11:13:51Z

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alsora · 2022-03-21T17:26:25Z

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alsora · 2022-03-21T20:02:41Z

New CI with updated cyclonedds

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alsora · 2022-03-22T12:23:04Z

rclcpp/include/rclcpp/client.hpp

+  /// Implementation detail.
+  RCLCPP_PUBLIC
+  void
+  setup_intra_process(


this should probably be protected (and also the using definition above)

Done in 0d17a8e

alsora · 2022-03-22T12:25:41Z

rclcpp/include/rclcpp/client.hpp

    auto shared_future = promise.get_future().share();
    auto req_id = async_send_request_impl(
-      *request,
+      request,


why not std::move as in the other calls above?

Not moving here because needs to be valid for later use in line 718

alsora · 2022-03-22T12:29:51Z

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alsora · 2022-03-22T12:34:10Z

rclcpp/include/rclcpp/client.hpp

+
+private:
+  using ClientIntraProcessT = rclcpp::experimental::ClientIntraProcess<ServiceT>;
+  std::shared_ptr<ClientIntraProcessT> client_intra_process_;


to match subscriptions implementation, we should have that client_intra_process_ is a protected member in client_base.hpp.
Its type will be ClientIntraProcessBase and the using definition can be moved to the create_intra_process_client

The same applies to servers.

Done in bec9017

alsora · 2022-03-22T12:37:04Z

rclcpp/include/rclcpp/detail/resolve_use_intra_process.hpp

+template<typename NodeBaseT>
 bool
-resolve_use_intra_process(const OptionsT & options, const NodeBaseT & node_base)
+resolve_use_intra_process(const IntraProcessSetting & ipc_setting, const NodeBaseT & node_base)


IntraProcessSetting is an enum, we can avoid passing that as a reference as it's likely to be a pessimization (and may cause confusion between the enum value and the memory address)

Done in d19d5c2

alsora · 2022-03-22T12:39:51Z

rclcpp/include/rclcpp/experimental/buffers/intra_process_buffer.hpp

+  // Not to be used in this class. Todo: review base class to avoid this.
+  bool use_take_shared_method() const override
+  {
+    throw std::runtime_error(


do we really need to throw here?

I'm just returning false now: 08290a8

alsora · 2022-03-22T12:43:24Z

rclcpp/include/rclcpp/experimental/client_intra_process.hpp

+    auto & typed_response = data_ptr->first;
+    auto & value = data_ptr->second;
+
+    if (std::holds_alternative<Promise>(value)) {


it would be nice if we could avoid duplicating this logic between here and client.hpp

rclcpp/src/rclcpp/intra_process_manager.cpp

rclcpp/src/rclcpp/parameter_service.cpp

ros-discourse · 2022-04-26T21:44:23Z

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/ros-2-tsc-meeting-minutes-2022-04-21/25293/1

alsora · 2022-06-01T10:27:20Z

Hi, can we get a review here?

alsora · 2022-08-15T09:39:54Z

Hi, anyone available for a review?

alsora · 2022-08-30T11:21:32Z

Friendly ping for a review

Signed-off-by: Mauro Passerino <[email protected]>

alsora · 2023-02-10T11:31:17Z

@wjwwood @clalancette @audrow @hidmic @ivanpauno can we get a review?
this PR has been open for more than 1 year

Signed-off-by: Mauro Passerino <[email protected]>

roncapat · 2025-03-26T07:27:43Z

Any chance for this to get merged?

Signed-off-by: Mauro Passerino <[email protected]> (cherry picked from commit 58d2a04)

Signed-off-by: Mauro Passerino <[email protected]> (cherry picked from commit 58d2a04) Remove redundant `add_subscription` cherry pick artifact use const ref instead of ptr, add missing capacity fn more style

* Add logs on failed take response/request (#107) * Ignore local endpoints (#131) * Refs #18846: PoC ignore local endpoints: extend RCLCPP API Signed-off-by: JLBuenoLopez-eProsima <[email protected]> * Refs #18846: PoC ignore local endpoints: modify RCLCPP publish logic Signed-off-by: JLBuenoLopez-eProsima <[email protected]> --------- Signed-off-by: JLBuenoLopez-eProsima <[email protected]> Co-authored-by: JLBuenoLopez-eProsima <[email protected]> (cherry picked from commit 106c03a) style * Support intra-process communication: Clients & Services (ros2#1847) Signed-off-by: Mauro Passerino <[email protected]> (cherry picked from commit 58d2a04) Remove redundant `add_subscription` cherry pick artifact use const ref instead of ptr, add missing capacity fn more style * Jazzy recreation of "Add action client/server IPC support" (aeacde9) * add override attribute to some ipc methods Signed-off-by: Alberto Soragna <[email protected]> * clear intra-process manager on client/server destructors (#94) (cherry picked from commit 378223d) * move ipc lock to appropriate position in client.hpp (cherry picked from commit 9de603e) * Actions: Use ipc_setting = rclcpp::IntraProcessSetting::NodeDefault (#133) Co-authored-by: Mauro Passerino <[email protected]> * Allow for deferred responses with ipc (#135) * allow for deferred responses with ipc * fix send response * fix use member service ipc process * add map to store CallbackInfoVariant * add send_response to base class, set function ptr to get handle * move service intra process outside base * copy response into shared pointer for ipc * add typename for service template * remove ref signature * try without std::ref * try without ref wrapper * try emplace * make pair with variant * some cleanup * erase callback info if client invalid * add post_init_setup for services * fix extra comma * add post init setup after lifecycle node services * add documentation for ServiceIntraProcess template change * use weak ptr to service in ServiceIntraProcess * move check for valid service handle to beginning of function * add comment for callback info map (cherry picked from commit aa95a48) * check request header for intraprocess (#139) * check request header for intraprocess * set request header intraprocess to false in execute_service (cherry picked from commit a617f93) * Include namespaces in service names (#140) * Include node namespace in IPC Action service name * Include node namespace in IPC Client/Service service name --------- Co-authored-by: Mauro Passerino <[email protected]> (cherry picked from commit f5b2001) remove whitespace in service.hpp * Fix mutltiple client requests (#142) * store map of unique request id to client id and callback info pair * fix map end check * fix undefined reference * remove unnecessary request id erase, remove/fix unique id comment * improve unique id comment (cherry picked from commit b865383) * RECREATION OF Fixes for intra-process actions (#144) action client / server ipc decrustification whitespace / line length / uncrustify - service_intra_process const correctness * add logs and minor fixes (#146) * add logs and minor fixes Signed-off-by: Alberto Soragna <[email protected]> * use >0 rather than ==1 in comparison Signed-off-by: Alberto Soragna <[email protected]> --------- Signed-off-by: Alberto Soragna <[email protected]> * correct template syntax Signed-off-by: Alberto Soragna <[email protected]> (cherry picked from commit d4dd4e4) * avoid adding notify waitable twice to events-executor collection (ros2#2564) * avoid adding notify waitable twice to events-executor entities collection Signed-off-by: Alberto Soragna <[email protected]> * remove redundant mutex lock Signed-off-by: Alberto Soragna <[email protected]> --------- Signed-off-by: Alberto Soragna <[email protected]> (cherry picked from commit f27bdbf) * Fix bug in timers lifecycle for events executor (ros2#2586) * Remove expired timers before updating the collection Signed-off-by: Alexis Pojomovsky <[email protected]> * Add regression test for reinitialized timers bug Signed-off-by: Alexis Pojomovsky <[email protected]> * Add missing includes Signed-off-by: Alexis Pojomovsky <[email protected]> * Relocate test under the executors directory Signed-off-by: Alexis Pojomovsky <[email protected]> * Extend test to run with all supported executors Signed-off-by: Alexis Pojomovsky <[email protected]> * Adjust comment in fix to make it more generic Signed-off-by: Alexis Pojomovsky <[email protected]> * Apply ament clang format to test Signed-off-by: Alexis Pojomovsky <[email protected]> * Fix uncrustify findings Signed-off-by: Alexis Pojomovsky <[email protected]> --------- Signed-off-by: Alexis Pojomovsky <[email protected]> Co-authored-by: Alexis Pojomovsky <[email protected]> (cherry picked from commit 9ef9646) * Bring lock_free_events_queue to rclcpp from the events_executor repo (#149) Co-authored-by: Alexis Pojomovsky <[email protected]> (cherry picked from commit 30050c1) exclude lock free queue from linting actually lint lock_free_events_queue lock_free_events_queue copyright whitespace / line length / uncrustify - lock_free_events_queue * Add test_actions (#150) Co-authored-by: Alexis Pojomovsky <[email protected]> (cherry picked from commit aef928d) * Jazzy - Action IPC Fixes (See 7a51f00) whitespace / line length / uncrustify - rclcpp_action client whitespace / line length / uncrustify - rclcpp_action server fix duplicate member definitions in rclcpp_action server.hpp fixes for IPC action server delete log whitespace / line length / uncrustify - rclcpp action server again minor action client fixes whitespace / line length / uncrustify - rclcpp action client again * Always publish inter-process on TRANSIENT_LOCAL pubs (#152) * Mauro/irobot iron fixes (#155) whitespace / line length / uncrustify - publisher proper inter_process_publish_needed whitespace / line length / uncrustify - rclcpp publisher * Add test_actions & test_transient_local (#157) Co-authored-by: Mauro Passerino <[email protected]> (cherry picked from commit cf182e0) whitespace / line length / uncrustify - test_actions and test_transient_local whitespace / line length / uncrustify - test actions and transient_local again remove redundant test_actions * Call service post_init_setup in test_service.cpp --------- Signed-off-by: Alberto Soragna <[email protected]> Signed-off-by: Alexis Pojomovsky <[email protected]> Co-authored-by: Mauro Passerino <[email protected]> Co-authored-by: mauropasse <[email protected]> Co-authored-by: Alberto Soragna <[email protected]> Co-authored-by: Jeffery Hsu <[email protected]> Co-authored-by: bpwilcox <[email protected]> Co-authored-by: Alexis Pojomovsky <[email protected]> Co-authored-by: Alexis Pojomovsky <[email protected]>

mauropasse mentioned this pull request Dec 17, 2021

Status of today's ROS 2 message delivery mechanisms #1750

Open

mauropasse marked this pull request as draft December 17, 2021 14:50

mauropasse force-pushed the mauro/ipc-cli-serv-qos-getters branch 3 times, most recently from 17a8555 to 78ea732 Compare March 18, 2022 13:51

alsora reviewed Mar 22, 2022

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alsora reviewed Mar 22, 2022

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mauropasse marked this pull request as ready for review March 23, 2022 16:19

clalancette assigned wjwwood and clalancette Apr 22, 2022

mauropasse force-pushed the mauro/ipc-cli-serv-qos-getters branch from bec9017 to b6245f2 Compare May 26, 2022 09:55

clalancette requested a review from wjwwood June 1, 2022 13:31

audrow changed the base branch from master to rolling June 28, 2022 14:21

mauropasse force-pushed the mauro/ipc-cli-serv-qos-getters branch 2 times, most recently from 98aad33 to abf4e71 Compare September 23, 2022 12:15

Mauro Passerino added 2 commits September 23, 2022 13:18

Support intra-process communication: Clients & Services

b2d743a

Signed-off-by: Mauro Passerino <[email protected]>

Add on new request/responses callbacks to IPC srv/cli

0a98fda

Signed-off-by: Mauro Passerino <[email protected]>

mauropasse force-pushed the mauro/ipc-cli-serv-qos-getters branch from abf4e71 to 0a98fda Compare September 23, 2022 12:18

Clear intra-process manager from destroyed cli/srv

b995963

Signed-off-by: Mauro Passerino <[email protected]>

mauropasse force-pushed the mauro/ipc-cli-serv-qos-getters branch from d45b7ea to b995963 Compare October 3, 2022 13:57

Missing create_intra_process_service in constructor

fb2c117

Signed-off-by: Mauro Passerino <[email protected]>

alsora mentioned this pull request Nov 1, 2022

SharedFuture from async_send_request never becomes valid #2039

Closed

alsora pushed a commit to irobot-ros/rclcpp that referenced this pull request Apr 29, 2023

Support intra-process communication: Clients & Services (ros2#1847)

10e66d6

Signed-off-by: Mauro Passerino <[email protected]>

mauropasse pushed a commit to mauropasse/rclcpp that referenced this pull request Nov 8, 2023

Support intra-process communication: Clients & Services (ros2#1847)

8f5f88a

Signed-off-by: Mauro Passerino <[email protected]>

mauropasse pushed a commit to mauropasse/rclcpp that referenced this pull request Nov 8, 2023

Support intra-process communication: Clients & Services (ros2#1847)

79697cb

Signed-off-by: Mauro Passerino <[email protected]>

mauropasse mentioned this pull request Dec 22, 2023

ROS 2 services are not 1 to 1 communication: responses are copied and sent to all clients #2397

Open

alsora pushed a commit to irobot-ros/rclcpp that referenced this pull request Jan 30, 2024

Support intra-process communication: Clients & Services (ros2#1847)

2f48887

Signed-off-by: Mauro Passerino <[email protected]>

apojomovsky pushed a commit to apojomovsky/rclcpp that referenced this pull request Jun 20, 2024

Support intra-process communication: Clients & Services (ros2#1847)

0b966cd

Signed-off-by: Mauro Passerino <[email protected]>

apojomovsky pushed a commit to apojomovsky/rclcpp that referenced this pull request Jun 21, 2024

Support intra-process communication: Clients & Services (ros2#1847)

58d2a04

Signed-off-by: Mauro Passerino <[email protected]>

skyegalaxy pushed a commit to irobot-ros/rclcpp that referenced this pull request Mar 29, 2025

Support intra-process communication: Clients & Services (ros2#1847)

25ee23a

Signed-off-by: Mauro Passerino <[email protected]> (cherry picked from commit 58d2a04)

Support intra-process communication between Clients and Services #1847

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