rcl

Library to support implementation of language specific ROS Client Libraries.

Features are described in detail at http://docs.ros2.org

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.

Changelog for package rcl

10.1.1 (2025-06-23)

• Assert HistoryQoS in test_info_by_topic (#1242) (#1247)
• Add a test for the subscription option 'ignore_local_publications' (#1239) (#1245)
• Removed unused nondefault_qos_profile (#1233) (#1234)
• Removed unused functions (#1230) (#1231)
• remove rmw_connext from test. (#1226) (#1227)
• Fix a dangling pointer discovered by a fresh Clang (#1222)
• Contributors: Alexander Kornienko, mergify[bot]

10.1.0 (2025-04-04)

• Set envars to run tests with rmw_zenoh_cpp with multicast discovery (#1218)
• Fix typo in message header include in doc (#1219)
• use rmw_event_type_is_supported (#1214)
• No need to add public symbol visibility macros in implementation. (#1213)
• Add new interfaces to enable intropsection for action (#1207)
• Use FASTDDS_DEFAULT_PROFILES_FILE instead. (#1211)
• Relieve timer test period not to miss the cycle. (#1209)
• Contributors: Alejandro Hernández Cordero, Barry Xu, Christophe Bedard, Tomoya Fujita, yadunund

10.0.2 (2025-01-31)

• fix(rcl_action): Allow to pass the timer to action during initialization (#1201)

  * fix(timer): Use impl pointer in jump callback The interface description does not explicitly state that a rcl_timer_t may not be copied around. Therefore users may do this. By using a known never changing pointer in the callbacks, we avoid segfaults, even if the 'user' decides to copy the rcl_timer_t around.

• move qos_profile_rosout_default to rmw. (#1195)

• Update example usage for rcl_wait_set_init to pass correct number of args (#1204)

• Clean up error handling in many rcl{_action,_lifecycle} codepaths (#1202)

  * Shorten the delay in test_action_server setup. Instead of waiting 250ms between setting up 10 goals (for at least 2.5 seconds), just wait 100ms which reduces this to 1 second.

  • Small style cleanups in test_action_server.cpp

  * Reset the error in rcl_node_type_cache_register_type(). That is, if rcutils_hash_map_set() fails, it sets its own error, so overriding it with our own will cause a warning to print. Make sure to clear it before setting our own.

  * Only unregister a clock jump callback if we have installed it. This avoids a warning on cleanup in rcl_timer_init2.

  * Record the return value from rcl_node_type_cache_register_type. Otherwise, in a failure situation we set the error but we actually return RCL_RET_OK to the upper layers, which is odd.

  * Get rid of completely unnecessary return value translation. This generated code was translating an RCL error to an RCL error, which doesn't make much sense. Just remove the duplicate code.

  * Use the rcl_timer_init2 functionality to start the timer disabled. Rather than starting it enabled, and then immediately canceling it.

  * Don't overwrite the error from rcl_action_goal_handle_get_info() It already sets the error, so rcl_action_server_goal_exists() should not set it again.

  * Reset errors before setting new ones when checking action validity That way we avoid an ugly warning in the error paths.

  * Move the copying of the options earlier in rcl_subscription_init. That way when we go to cleanup in the "fail" case, the options actually exist and are valid. This avoids an ugly warning during cleanup.

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