Release 2.7.0#1279
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* chore: Remove kilted and rolling ci workflows * Remove stale workflow and dependabot config
* Add helper Protocol classes for ROS interface type checking * Add type annotations to ros_loader * Add type annotations to message_conversion * Add type annotations to rosapi * Add type annotations to protocol * Add type annotations and simplify logging in defragmentation * Remove ReceivedFragments singleton class, use class variable instead * Add type annotations to fragmentation capability * Add type variables for ROS interface types * Use Clock instead of ROSClock in message_conversion * Add type annotations to rosbridge_library internal modules * Add type annotations to capabilities * Fix mypy issues in protocol * Add type annotation to util functions * Improve future type annotation * Small improvements in rosapi type annotations * Pass result typevar to Future generic * Fix spelling mistake * Add type annotation to capability tests * Fix args type for actions and services * Add type annotation for capability message fields * Reformat * Disable some modules from annotation checks * Allow empty callback in Subscription helper class * Ignore encode_json assignment error * Ignore no-redef mypy errors * Add type annotation and resolve mypy errors in rosbridge_library * Add type annotations to topic/service/action glob lists * Add type annotation to rosbridge_server src * Add type annotations to rosbridge_server tests * Enable flake8-annotation linter checks * Remove unused import * Add type annotations for param variables * Use __future__.annotations in every source file * Set minimal python version to 3.10 * Fix assert in message_conversion * Remove error messages from asserts in message_conversion The asserts are self-explanatory * Fix a typo * Fix shebangs and make all of the tests runnable as scripts It's either none of them or all of them * Use __futute__.annotations in all tests * Fix formatting * Use list_types tuple * Create ROSClock instead of Clock when clock not provided * Fix BSON types * Use Any type for inst argument in InvalidMessageException * Raise TypeError instead of AssertionError on type mismatch * Remove unsupported type arguments * Backport rclpy action type checking classes * Fix/ignore other mypy errors
* Update changelogs * 2.4.0
* Update changelogs * 2.4.1
* Update changelogs * 2.4.2
* Add error logging when service is unadvertised during in-flight request * Fix service destruction method in AdvertisedServiceHandler * Fix unadvertise service test * Try to fix failing topic subscription assertions by adding a timeout * Remove redundant sleeps * Remove extra call to destroy service after graceful shutdown * Re-raise original exception in handle_request
* add server timeout exception * forward rejected goal handles The goal_response_cb should not throw an exception, so the exception is passed in the result and then raised in send_goal * return an empty result when result was None due to cancellation/abortion * fix lint error --------- Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
* Integration test instrumentation fix * Revert unnecessary startup fix and remove corresponding always passing test (cherry picked from commit 85ff1cd) # Conflicts: # rosbridge_server/CMakeLists.txt # rosbridge_server/test/websocket/startup_race.test.py * Fix conflicts --------- Co-authored-by: FieldSwan <michael.swan@fieldai.com> Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
* fix: Prevent client destruction race condition (#1183) * Client creation/destruction race condition stress test * Fix race condition with client destruction * Use ros isolated pytest (#4) --------- Co-authored-by: Błażej Sowa <bsowa123@gmail.com> (cherry picked from commit 5b20a2e) # Conflicts: # rosbridge_server/CMakeLists.txt * Fix conflicts --------- Co-authored-by: FieldSwan <michael.swan@fieldai.com> Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
… advertised (backport #1203) (#1205) * feat: Create topic registrations in publish when topic not previously advertised (#1203) * fix: Ensure reactor stops after websocket test execution * fix: Ensure exceptions in websocket tests are reported correctly * feat: Add test for advertise and publish publisher creation * fix: Prevent duplicate publisher registration for existing topics * Store topic registration in protocol class * feat: Create topic registrations in publish when topic not previously advertised * Remove redundant comment * refactor: Simplify PublisherManager publish * fix: Change log level from warn to info for unregistered topic publishing * Update rosbridge_library/src/rosbridge_library/internal/publishers.py Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> * fix: Rename variable from aid to adv_id for clarity in advertisement handling * fix: Improve error message formatting for unregistered topic exception --------- Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com> (cherry picked from commit 54598c2) # Conflicts: # rosbridge_server/CMakeLists.txt * Fix conflicts --------- Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
* Fix subscription creation and destruction race conditions * Send fewer messages to closed websocket. * Update rosbridge_library/src/rosbridge_library/internal/subscribers.py --------- (cherry picked from commit 7a02d34) Co-authored-by: FieldSwan <michael.swan@fieldai.com> Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* feat: Cache rosapi get/set parameter clients (#1201) * feat: Implement client caching for parameter services with cleanup mechanism * Fix spelling * Ignore mypy error * fix: Enhance type hinting for parameter service clients * Increase the cleanup timer period * Use node.destroy_client * Use counter instead of bool flag * Fix mypy error * Reformat * Add docstring for _CachedClient * fix: Improve client retrieval logic in _get_client function (cherry picked from commit a62b886) # Conflicts: # rosapi/src/rosapi/params.py * Fix conflicts --------- Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
* docs: Clarify special handling of time fields * Add tests for header and time fields population * fix: Auto-populate header.stamp when header omitted * fix: Validate header type in populate_instance function (cherry picked from commit 42ce055) Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
…erations (backport #1150) (#1226) * feat: Add QoS Profile support for advertise, publish and subscribe operations (#1150) Co-authored-by: Błażej Sowa <bsowa123@gmail.com> (cherry picked from commit 8461d3d) # Conflicts: # rosbridge_library/src/rosbridge_library/internal/publishers.py # rosbridge_library/src/rosbridge_library/internal/subscribers.py * Fix conflicts --------- Co-authored-by: Roald Schaum <178021507+Roald-Schaum@users.noreply.github.com> Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
#1261) (#1262) * fix: mypy errors and flaky subscriber/publisher tests (#1258) * chore: fix pre-existing Rolling/Lyrical CI failures Two independent root causes block any PR that touches a Rolling/Lyrical job: mypy (Ubuntu 25.10 'resolute' ships a stricter mypy that flags 5 latent issues older versions silently accepted): - subscribe.py: extend the type-ignore on the simplejson fallback to also cover no-redef. The chained 'import as encode_json' pattern legitimately rebinds the name; newer mypy now requires the suppression to say so. - websocket_handler.py: narrow Node | None at _log_exception's use site with the same assert pattern already in open()/on_close(); annotate the bare protocol_parameters ClassVar as dict[str, Any]; coerce the optional request.remote_ip to a str at the ClientManager.{add,remove}_client boundary (Tornado types it as Any | None). Flaky topic-existence tests: the previous helpers polled the rmw graph cache via get_(publisher|subscriber)_names_and_types_by_node, which requires a DDS-discovery round-trip even for self-queries. On 'resolute' that round-trip routinely overran the 1s polling deadline, so different tests flaked across different runs. Switch to a deterministic implementation: - is_topic_published / is_topic_subscribed in util/ros.py now read node.publishers / node.subscriptions (the local entity list). These are populated synchronously inside create_publisher / create_subscription and cleared inside destroy_publisher / destroy_subscription, so the result is correct as soon as the calling thread has the entity handle. - Drop the assert_topic_(not_)subscribed polling helpers from the subscriber tests; call is_topic_subscribed directly. - subscribers.py routes destroy_subscription through executor.create_task (#1194), so after manager.unsubscribe / MultiSubscriber.unregister the test thread still has to synchronize with the executor before asserting the entity is gone. Add wait_for_executor_idle, which enqueues a no-op task and waits for it; SingleThreadedExecutor processes tasks FIFO, so any destroy task enqueued earlier has completed when it returns. - Drop the time.sleep(0.1) before is_topic_published in test_publisher_manager.test_register_infer_topictype — create_publisher is now reflected immediately. Existing time.sleep(manager.unregister_timeout + 1.0) waits stay: those are waiting for threading.Timer to fire and run destroy_publisher, not for graph propagation. * test: daemonize worker threads in capability tests test_capabilities was hitting CTest's 60-second timeout on Rolling and Lyrical even though pytest itself completes in ~14s and reports 46/46 passing. The remaining ~46s is wasted in Python interpreter shutdown waiting on non-daemon worker threads. Each of the action / service capability tests dispatches the rosbridge worker via Thread(target=self.send_goal.send_action_goal, ...).start() (analogous to the production protocol.register_operation path). The worker calls SendGoal.send_goal / call_service.call_service, which busy-wait on a result that is only delivered when the executor spins the registered callback. When tearDown calls executor.shutdown() before the worker's result callback has fired, the busy-wait runs forever. Because the dispatch threads are non-daemon, the Python interpreter blocks at shutdown trying to join them. Mark these worker threads daemon=True so process exit is not gated on them. The threads still complete normally on the happy path; daemon only changes behaviour at interpreter shutdown, mirroring the pattern already used in test_stress_service_clients.py. (cherry picked from commit efc9f37) # Conflicts: # rosbridge_library/test/capabilities/test_action_capabilities.py * Fix conflicts --------- (cherry picked from commit 65034c7) Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Joshua Whitley <josh@electrifiedautonomy.com> Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
* feat: Improve action unadvertising (backport #1248) (#1252) * feat: Improve action unadvertising (#1248) * Improve logging on send_action_goal fail * Reject new goals after action was unadversited * Abort action goals on shutdown * Schedule destruction of action server after last goal finishes * Expand unadvertise action test (cherry picked from commit cfd0646) # Conflicts: # rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py * Fix conflicts * fix: set threads as daemon in action goal tests * fix: add type ignore for coroutine in execute_callback * fix: mypy error --------- Co-authored-by: Błażej Sowa <bsowa123@gmail.com> (cherry picked from commit cb538db) # Conflicts: # rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py * Fix conflicts --------- Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
…s (backport #1260) (#1267) * feat: Provide separate arguments for publish and subscribe topic globs (#1260) * Add separate publish/subscribe topics glob * Restore deleted lines * Provide a different example for topics_pub_glob * Formatting * Append topics_glob to topics_pub_glob and topics_sub_glob * Fix empty glob matching * Align rosapi and rosbridge_server glob parsing logic * Update rosapi readme and refactor glob merging in rosbridge_websocket * Update proxy * Address Copilot comments (cherry picked from commit 44365ff) # Conflicts: # rosbridge_server/scripts/rosbridge_websocket.py * Fix conflicts --------- (cherry picked from commit a64a945) Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: p7yong <pei7yong@gmail.com> Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
#1255) (#1270) * fix: Prevent client destruction race in services.call_service (backport #1255) (#1269) * fix: prevent rclpy entity-lifecycle race in service and action capabilities (#1255) Both `services.call_service` and `advertise_action`'s `AdvertisedActionHandler` create rclpy entities (`rclpy.Client` and `rclpy.action.ActionServer`, respectively) on the rosbridge node directly from a worker thread. The same node is concurrently spun by the rclpy executor, so the executor's wait-set rebuild can race with the worker thread's entity registration / destruction and either crash inside `_rclpy` (action servers SIGSEGV in `rclpy/action/server.py:__init__`) or leave the executor holding a handle whose underlying PyCapsule has been freed (services surface this later as `TypeError: Object of type 'NoneType' is not an instance of 'capsule'`). This is the service- and action-capability analogue of the IncomingQueue race fixed in #1183: route the lifecycle calls through the executor via `executor.create_task(...)` so they serialize with the executor's own work instead of competing with it. - Extract the executor-routing pattern into `rosbridge_library.internal.executor_helpers`, exposing `run_on_executor` (synchronous; returns the value, used when the caller needs the entity back) and `schedule_on_executor` (fire-and-forget, used for destructors). Both fall back to inline invocation when the node has no attached executor, preserving unit-test behaviour. - Apply `run_on_executor` to client creation in `services.call_service` and ActionServer creation in `AdvertisedActionHandler.__init__`. The three `destroy_client` sites in `services.call_service` now use `schedule_on_executor`. ActionServer destruction was already routed through the executor in #1248. - `ActionTester` in `test_actions.py` constructs its own ActionServer from the test thread while the fixture's executor is already spinning. Route that creation through `run_on_executor` for the same reason; without it the rclpy SIGSEGV reproduces on a workspace with up-to-date rclpy. `test_stress_service_clients.py` exercises the service race window (parallel callers, barrier-synchronized starts, rapid sequential cycles, and interleaved waves of concurrent callers) and asserts the executor remains healthy and responsive afterwards. Co-authored-by: Błażej Sowa <bsowa123@gmail.com> (cherry picked from commit 06bf324) # Conflicts: # rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py # rosbridge_library/test/internal/actions/test_actions.py * Fix conflicts --------- Co-authored-by: Joshua Whitley <josh@electrifiedautonomy.com> Co-authored-by: Błażej Sowa <bsowa123@gmail.com> (cherry picked from commit 7631e3f) # Conflicts: # rosbridge_library/src/rosbridge_library/capabilities/advertise_action.py # rosbridge_library/test/internal/actions/test_actions.py * Fix conflicts --------- Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com> Co-authored-by: Błażej Sowa <bsowa123@gmail.com>
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