Brian

make writer_guid uint8_t[] instead of int8_t[] for consistency with rmw_gid_t

3

This PR address another inconsistency I noticed with with gids in rmw, namely that `rmw_gid_t` is an `uint8_t` array and `rmw_request_id_t.writer_guid` is a `int8_t` array. Changing this would silence some...

Make Optional things Optional

2

I combed through all 154 matches of = None in the codebase and made Optional things, well, `Optional` Signed-off-by: Brian Chen

Service introspection

1

This PR is part of a prototype implementation for https://github.com/ros-infrastructure/rep/pull/360 https://github.com/ros2/ros2/issues/1285. Notes: - A submodule was `pybind`ed for service introspection. This can be flattened if desired. - Update the various...

This PR adds `executor.spin_some` to achieve feature parity with rclcpp. TODO: - [ ] Tests - [ ] `rclpy.spin_some` Signed-off-by: Brian Chen

Set multiple parameters

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Support setting multiple parameters at once using `ros2 param set` See: https://github.com/ros2/ros2cli/pull/727#issuecomment-1164515330 This PR uses features from https://github.com/ros2/ros2cli/pull/716 (Diff: https://github.com/ros2/ros2cli/compare/brianc/parameter_client...brianc/multiple_param_set) ``` $ ros2 param set -h usage: ros2 param set...

Implementation for proposed REP2012 https://github.com/ros-infrastructure/rep/pull/360 This PR implements `ros2 service echo` Related PR: https://github.com/ros2/ros2/issues/1285 This PR replaces https://github.com/ros2/ros2cli/pull/732

Support setting parameters atomically

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This PR implements a `--atomic` flag for `ros2 param set` for setting parameters atomically from the command line. - Closes https://github.com/ros2/ros2cli/issues/721 - Depends on https://github.com/ros2/rclpy/pull/959 - This PR branches off...

This PR is part of a prototype implementation for https://github.com/ros-infrastructure/rep/pull/360 https://github.com/ros2/ros2/issues/1285. Changes: - New `node_interface` is created for service introspection which declares the service introspection parameters and manages runtime configuration...

## Feature request Custom allocators for Service/Clients ### Feature description Currently the allocator for rclcpp services and clients cannot be configured by the user, though publishers and subscribers support this...

Add service_msgs package

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This PR is a prototype for the service introspection REP (https://github.com/ros-infrastructure/rep/pull/360) adding a `service_msgs` package implementing the proposed embedded message approach (https://github.com/ros-infrastructure/rep/pull/360#discussion_r902987531). For instructions on how to build and run...