def test_import_each_available_rmw_implementation():
from rclpy.impl.rmw_implementation_tools import get_rmw_implementations
for rmw_implementation in get_rmw_implementations():
pool = multiprocessing.Pool(1)
result = pool.apply(
func=run_catch_report_raise,
args=(func_import_each_available_rmw_implementation, rmw_implementation,)
)
assert result
pool.close()
pool.join()
def func_import_each_available_rmw_implementation(rmw_implementation):
import rclpy
from rclpy.impl.rmw_implementation_tools import get_rmw_implementations
from rclpy.impl.rmw_implementation_tools import select_rmw_implementation
rmw_implementations = get_rmw_implementations()
assert(rmw_implementation in rmw_implementations)
select_rmw_implementation(rmw_implementation)
rclpy.init([])
set_rmw = rclpy.get_rmw_implementation_identifier()
assert set_rmw == rmw_implementation, \
"expected '{0}' but got '{1}'".format(
rmw_implementation, set_rmw)
return ctypes.c_bool(True)
def test_select_rmw_implementation_by_environment():
from rclpy.impl.rmw_implementation_tools import get_rmw_implementations
orig_rclpy_implementation_env = os.environ.get('RCLPY_IMPLEMENTATION', None)
for rmw_implementation in get_rmw_implementations():
pool = multiprocessing.Pool(1)
result = pool.apply(
func=run_catch_report_raise,
args=(func_select_rmw_implementation_by_environment, rmw_implementation,)
)
if orig_rclpy_implementation_env is None:
if 'RCLPY_IMPLEMENTATION' in os.environ:
del os.environ['RCLPY_IMPLEMENTATION']
else:
os.environ['RCLPY_IMPLEMENTATION'] = orig_rclpy_implementation_env
assert result, "type('{0}'): '{1}'".format(type(result), result)
pool.close()
pool.join()
def func_select_rmw_implementation_by_environment(rmw_implementation):
import rclpy
from rclpy.impl.rmw_implementation_tools import get_rmw_implementations
os.environ['RCLPY_IMPLEMENTATION'] = rmw_implementation
assert('RCLPY_IMPLEMENTATION' in os.environ)
rmw_implementations = get_rmw_implementations()
assert(os.environ['RCLPY_IMPLEMENTATION'] in rmw_implementations)
rclpy.init([])
set_rmw = rclpy.get_rmw_implementation_identifier()
assert set_rmw == rmw_implementation, \
"expected '{0}' but got '{1}'".format(
rmw_implementation, set_rmw)
return ctypes.c_bool(True)
def init(args=None):
rclpy_rmw_env = os.getenv(RCLPY_IMPLEMENTATION_ENV_NAME, None)
if rclpy_rmw_env is not None:
available_rmw_implementations = rmw_implementation_tools.get_rmw_implementations(
)
if rclpy_rmw_env not in available_rmw_implementations:
logger = logging.getLogger('rclpy')
logger.error(
"The rmw implementation specified in 'RCLPY_IMPLEMENTATION={0}', "
"is not one of the available implementations: {1}".format(
rclpy_rmw_env, available_rmw_implementations))
raise InvalidRCLPYImplementation()
rmw_implementation_tools.select_rmw_implementation(rclpy_rmw_env)
# This line changes what is in "_rclpy" to be the rmw implementation module that was imported.
implementation_singleton.set_rclpy_implementation(
rmw_implementation_tools.import_rmw_implementation())
# Now we can use _rclpy to call the implementation specific rclpy_init().
return _rclpy.rclpy_init(args if args is not None else sys.argv)
def init(args=None):
rclpy_rmw_env = os.getenv('RCLPY_IMPLEMENTATION', None)
if rclpy_rmw_env is not None:
available_rmw_implementations = rmw_implementation_tools.get_rmw_implementations()
if rclpy_rmw_env not in available_rmw_implementations:
logger = logging.getLogger('rclpy')
logger.error(
"The rmw implementation specified in 'RCLPY_IMPLEMENTATION={0}', "
"is not one of the available implementations: {1}"
.format(rclpy_rmw_env, available_rmw_implementations)
)
raise InvalidRCLPYImplementation()
rmw_implementation_tools.select_rmw_implementation(rclpy_rmw_env)
# This line changes what is in "_rclpy" to be the rmw implementation module that was imported.
implementation_singleton.set_rclpy_implementation(
rmw_implementation_tools.import_rmw_implementation()
)
# Now we can use _rclpy to call the implementation specific rclpy_init().
return _rclpy.rclpy_init(args if args is not None else sys.argv)
def func_import_each_available_rmw_implementation(rmw_implementation):
import rclpy
from rclpy.impl.rmw_implementation_tools import get_rmw_implementations
from rclpy.impl.rmw_implementation_tools import select_rmw_implementation
rmw_implementations = get_rmw_implementations()
assert(rmw_implementation in rmw_implementations)
select_rmw_implementation(rmw_implementation)
rclpy.init([])
set_rmw = rclpy.get_rmw_implementation_identifier()
assert set_rmw in identifiers_map, \
"expected identifier '{0}' to be in the map '{1}'".format(set_rmw, identifiers_map)
set_rmw_equivalent = identifiers_map[set_rmw]
assert set_rmw_equivalent == rmw_implementation, \
"expected '{0}' but got '{1}' (aka '{2}')".format(
rmw_implementation, set_rmw_equivalent, set_rmw)
return ctypes.c_bool(True)
def func_select_rmw_implementation_by_environment(rmw_implementation):
import rclpy
from rclpy.impl.rmw_implementation_tools import get_rmw_implementations
os.environ['RCLPY_IMPLEMENTATION'] = rmw_implementation
assert('RCLPY_IMPLEMENTATION' in os.environ)
rmw_implementations = get_rmw_implementations()
assert(os.environ['RCLPY_IMPLEMENTATION'] in rmw_implementations)
rclpy.init([])
set_rmw = rclpy.get_rmw_implementation_identifier()
assert set_rmw in identifiers_map, \
"expected identifier '{0}' to be in the map '{1}'".format(set_rmw, identifiers_map)
set_rmw_equivalent = identifiers_map[set_rmw]
assert set_rmw_equivalent == rmw_implementation, \
"expected '{0}' but got '{1}' (aka '{2}')".format(
rmw_implementation, set_rmw_equivalent, set_rmw)
return ctypes.c_bool(True)
qos_profile_default)
spin_count = 1
print('subscriber: beginning loop')
while (rclpy.ok() and spin_count < number_of_cycles and
len(received_messages) != len(expected_msgs)):
rclpy.spin_once(node)
spin_count += 1
rclpy.shutdown()
assert len(received_messages) == len(expected_msgs),\
'Should have received {} {} messages from talker'.format(len(expected_msgs), message_name)
if __name__ == '__main__':
from rclpy.impl.rmw_implementation_tools import get_rmw_implementations
rmw_implementations = get_rmw_implementations()
parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('message_name', default='Primitives',
help='name of the ROS message')
parser.add_argument('-r', '--rmw_implementation', default=rmw_implementations[0],
choices=rmw_implementations,
help='rmw_implementation identifier')
parser.add_argument('-n', '--number_of_cycles', type=int, default=10,
help='number of sending attempts')
args = parser.parse_args()
try:
listener(
message_name=args.message_name,
rmw_implementation=args.rmw_implementation,
number_of_cycles=args.number_of_cycles)
except KeyboardInterrupt:
