add ContentFilteredTopic example.#341
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wjwwood merged 4 commits intoros2:masterfrom Apr 27, 2022
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Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
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Apr 19, 2022
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just trying to use all interfaces provided by subscription content filtering here. and dealing with exceptions that might be generated via methods since users are likely to copy&paste the code from here to somewhere else.
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The example could be more "minimal" for copy-paste, but I think it's fine as-is to show more of how it could be used.
lgtm, with some suggestions addressed.
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@wjwwood thanks for the comment, i borrowed your suggestions. |
Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> Co-authored-by: William Woodall <william@osrfoundation.org>
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CI:
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Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
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CI (address uncrustify errors):
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example output for each rmw implementation.
ros2 run examples_rclcpp_minimal_publisher publisher_member_function
# ros2 run examples_rclcpp_minimal_subscriber subscriber_content_filtering
[INFO] [1650647654.909896684] [minimal_contentfiltering_subscriber]: Subscribed to topic "/topic" with content filtering
[INFO] [1650647654.909990922] [minimal_contentfiltering_subscriber]: Content filtering expression and parameter are "data = %0" and "'Hello, world! 10'"
[INFO] [1650647663.337609015] [minimal_contentfiltering_subscriber]: I heard: 'Hello, world! 10'
[INFO] [1650647663.338324998] [minimal_contentfiltering_subscriber]: Content filtering expression and parameter are "data = %0" and "'Hello, world! 20'"
[INFO] [1650647668.337454893] [minimal_contentfiltering_subscriber]: I heard: 'Hello, world! 20'
[INFO] [1650647668.338167047] [minimal_contentfiltering_subscriber]: Content filtering expression and parameter are "data = %0" and "'Hello, world! 30'"
...<snip>
# RMW_IMPLEMENTATION=rmw_connextdds ros2 run examples_rclcpp_minimal_subscriber subscriber_content_filtering
RTI Connext DDS Non-commercial license is for academic, research, evaluation and personal use only. USE FOR COMMERCIAL PURPOSES IS PROHIBITED. See RTI_LICENSE.TXT for terms. Download free tools at rti.com/ncl. License issued to Non-Commercial User license@rti.com For non-production use only.
Expires on 00-jan-00 See www.rti.com for more information.
[INFO] [1650647909.339308552] [minimal_contentfiltering_subscriber]: Subscribed to topic "/topic" with content filtering
[INFO] [1650647909.339387411] [minimal_contentfiltering_subscriber]: Content filtering expression and parameter are "data = %0" and "'Hello, world! 10'"
[INFO] [1650647926.630042121] [minimal_contentfiltering_subscriber]: I heard: 'Hello, world! 10'
[INFO] [1650647926.631364854] [minimal_contentfiltering_subscriber]: Content filtering expression and parameter are "data = %0" and "'Hello, world! 20'"
...<snip>
# RMW_IMPLEMENTATION=rmw_cyclonedds_cpp ros2 run examples_rclcpp_minimal_subscriber subscriber_content_filtering
[WARN] [1650647987.733083073] [minimal_contentfiltering_subscriber]: Content filter is not enabled since it's not supported
[INFO] [1650647990.514812843] [minimal_contentfiltering_subscriber]: I heard: 'Hello, world! 0'
[INFO] [1650647991.014601673] [minimal_contentfiltering_subscriber]: I heard: 'Hello, world! 1'
[INFO] [1650647991.514611925] [minimal_contentfiltering_subscriber]: I heard: 'Hello, world! 2'
[INFO] [1650647992.014454205] [minimal_contentfiltering_subscriber]: I heard: 'Hello, world! 3'
[INFO] [1650647992.514540176] [minimal_contentfiltering_subscriber]: I heard: 'Hello, world! 4'
[INFO] [1650647993.014640461] [minimal_contentfiltering_subscriber]: I heard: 'Hello, world! 5'
...<snip> |
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Note: cross-vendor content filtering works between rmw_fastrtps and rmw_connextdds using this example. |
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Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
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either @ivanpauno or @wjwwood , could you help to merge this? i do not have access permission for this repo. |
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Let's hold off until next week; we are trying to branch for Humble right now. |
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sorry, forgot that. thanks! |
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Yeah, this is ready, just waiting on Humble to unblock. |
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@clalancette could you merge this into master? so that i can link this example from ros2/ros2_documentation#2396 (release note). |
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@Mergifyio backport rolling humble |
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(cherry picked from commit 9ff80f5)
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✅ Backports have been createdDetails
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Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> (cherry picked from commit 9ff80f5)
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should be linked to ROS 2 ContentFitleredTopic tutorial. (ros2/design#282)
related to ros2/demos#557
Signed-off-by: Tomoya Fujita Tomoya.Fujita@sony.com