Service introspection - #988
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This has been substantially rewritten now, so I'm going to dismiss all of the review comments, and pull this out of draft. |
clalancette
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February 23, 2023 22:10
This make it more similar to the Service constructor. Also make both of them use const std::string & to avoid a copy. Signed-off-by: Chris Lalancette <clalancette@gmail.com>
Add in the parameters to control it, as well as the correct calls into the underlying rcl implementation. Also add in tests. Signed-off-by: Brian Chen <brian.chen@openrobotics.org> Signed-off-by: Chris Lalancette <clalancette@gmail.com>
To do this, we add a new method on the Client and Service classes that allows the user to change the introspection method at runtime. These end up calling into the rcl layer to do the actual configuration, at which point service introspection messages will be sent as configured. Signed-off-by: Chris Lalancette <clalancette@gmail.com>
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mjcarroll
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I should mention that CI for this is in ros2/ros2#1285 (comment) |
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This PR is part of a prototype implementation for ros-infrastructure/rep#360 ros2/ros2#1285.
Depends on: ros2/rcl#997