Skip to content

Decouple rosout publisher init from node init. #2174

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 4 commits into from
Sep 22, 2023
Merged

Decouple rosout publisher init from node init. #2174

Changes from all commits
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
405dc34
Decouple rosout publisher init from node init.
fujitatomoya Apr 27, 2023
228e5a6
add logging_rosout header file.
fujitatomoya Jun 16, 2023
504f38d
Decouple rosout publisher fini from node fini.
fujitatomoya Sep 11, 2023
9572236
address review comments.
fujitatomoya Sep 20, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
45 changes: 29 additions & 16 deletions rclcpp/src/rclcpp/node_interfaces/node_base.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,8 @@

#include "rcl/arguments.h"
#include "rcl/node_type_cache.h"
#include "rcl/logging.h"
#include "rcl/logging_rosout.h"
#include "rclcpp/exceptions.hpp"
#include "rcutils/logging_macros.h"
#include "rmw/validate_namespace.h"
Expand Down Expand Up @@ -55,17 +57,12 @@ NodeBase::NodeBase(
std::shared_ptr<std::recursive_mutex> logging_mutex = get_global_logging_mutex();

rcl_ret_t ret;
{
std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
// TODO(ivanpauno): /rosout Qos should be reconfigurable.
// TODO(ivanpauno): Instead of mutually excluding rcl_node_init with the global logger mutex,
// rcl_logging_rosout_init_publisher_for_node could be decoupled from there and be called
// here directly.
ret = rcl_node_init(
rcl_node.get(),
node_name.c_str(), namespace_.c_str(),
context_->get_rcl_context().get(), &rcl_node_options);
}

// TODO(ivanpauno): /rosout Qos should be reconfigurable.
ret = rcl_node_init(
rcl_node.get(),
node_name.c_str(), namespace_.c_str(),
context_->get_rcl_context().get(), &rcl_node_options);
if (ret != RCL_RET_OK) {
if (ret == RCL_RET_NODE_INVALID_NAME) {
rcl_reset_error(); // discard rcl_node_init error
Expand Down Expand Up @@ -115,13 +112,29 @@ NodeBase::NodeBase(
throw_from_rcl_error(ret, "failed to initialize rcl node");
}

// The initialization for the rosout publisher
if (rcl_logging_rosout_enabled() && rcl_node_options.enable_rosout) {
std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
ret = rcl_logging_rosout_init_publisher_for_node(rcl_node.get());
if (ret != RCL_RET_OK) {
throw_from_rcl_error(ret, "failed to initialize rosout publisher");
}
}

node_handle_.reset(
rcl_node.release(),
[logging_mutex](rcl_node_t * node) -> void {
std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
// TODO(ivanpauno): Instead of mutually excluding rcl_node_fini with the global logger mutex,
// rcl_logging_rosout_fini_publisher_for_node could be decoupled from there and be called
// here directly.
[logging_mutex, rcl_node_options](rcl_node_t * node) -> void {
{
std::lock_guard<std::recursive_mutex> guard(*logging_mutex);
if (rcl_logging_rosout_enabled() && rcl_node_options.enable_rosout) {
rcl_ret_t ret = rcl_logging_rosout_fini_publisher_for_node(node);
if (ret != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
"Error in destruction of rosout publisher: %s", rcl_get_error_string().str);
}
}
}
if (rcl_node_fini(node) != RCL_RET_OK) {
RCUTILS_LOG_ERROR_NAMED(
"rclcpp",
Expand Down