Specialize templates to get fully qualified name (#35)

aica-technology · Jul 11, 2023 · f963acb · f963acb
1 parent 007575b
commit f963acb
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Showing 12 changed files with 12 additions and 12 deletions.
diff --git a/VERSION b/VERSION
@@ -1 +1 @@
-2.2.9
+2.2.10
diff --git a/doxygen/doxygen.conf b/doxygen/doxygen.conf
@@ -38,7 +38,7 @@ PROJECT_NAME           = "Modulo"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 2.2.9
+PROJECT_NUMBER = 2.2.10
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

diff --git a/source/modulo_component_interfaces/package.xml b/source/modulo_component_interfaces/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_component_interfaces</name>
-  <version>2.2.9</version>
+  <version>2.2.10</version>
   <description>Interface package for communicating with modulo components through the ROS framework</description>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>
   <license>GPLv3</license>

diff --git a/source/modulo_components/include/modulo_components/ComponentInterface.hpp b/source/modulo_components/include/modulo_components/ComponentInterface.hpp
@@ -1259,7 +1259,7 @@ inline state_representation::CartesianPose ComponentInterface<NodeT>::lookup_tra
 template<class NodeT>
 inline void ComponentInterface<NodeT>::publish_predicate(const std::string& name) {
   modulo_component_interfaces::msg::Predicate message;
-  message.component = this->get_fully_qualified_name();
+  message.component = this->get_node_base_interface()->get_fully_qualified_name();
   message.predicate = name;
   message.value = this->get_predicate(name);
   this->predicate_publisher_->publish(message);

diff --git a/source/modulo_components/modulo_components/component_interface.py b/source/modulo_components/modulo_components/component_interface.py
@@ -712,7 +712,7 @@ def _publish_predicate(self, name):
             self.get_logger().error(f"Predicate '{name}' has invalid type: expected 'bool', got '{type(value)}'.",
                                     throttle_duration_sec=1.0)
             return
-        message.component = self.get_name()
+        message.component = self.get_fully_qualified_name()
         message.predicate = name
         self._predicate_publisher.publish(message)
 

diff --git a/source/modulo_components/package.xml b/source/modulo_components/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_components</name>
-  <version>2.2.9</version>
+  <version>2.2.10</version>
   <description>Modulo base classes that wrap ROS2 Nodes as modular components for the AICA application framework</description>
   <maintainer email="baptiste@aica.tech">Baptiste Busch</maintainer>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>

diff --git a/source/modulo_components/test/cpp/test_component_communication.cpp b/source/modulo_components/test/cpp/test_component_communication.cpp
@@ -65,7 +65,7 @@ TEST_F(ComponentCommunicationTest, InputOutputManual) {
 TEST_F(ComponentCommunicationTest, Trigger) {
   auto trigger = std::make_shared<Trigger>(rclcpp::NodeOptions());
   auto listener =
-      std::make_shared<modulo_utils::testutils::PredicatesListener>("trigger", std::vector<std::string>{"test"});
+      std::make_shared<modulo_utils::testutils::PredicatesListener>("/trigger", std::vector<std::string>{"test"});
   this->exec_->add_node(listener);
   this->exec_->add_node(trigger);
   auto result_code = this->exec_->spin_until_future_complete(listener->get_predicate_future(), 500ms);

diff --git a/source/modulo_components/test/cpp/test_lifecycle_component_communication.cpp b/source/modulo_components/test/cpp/test_lifecycle_component_communication.cpp
@@ -69,7 +69,7 @@ TEST_F(LifecycleComponentCommunicationTest, InputOutputManual) {
 TEST_F(LifecycleComponentCommunicationTest, Trigger) {
   auto trigger = std::make_shared<LifecycleTrigger>(rclcpp::NodeOptions());
   auto listener =
-      std::make_shared<modulo_utils::testutils::PredicatesListener>("trigger", std::vector<std::string>{"test"});
+      std::make_shared<modulo_utils::testutils::PredicatesListener>("/trigger", std::vector<std::string>{"test"});
   this->exec_->add_node(trigger->get_node_base_interface());
   trigger->configure();
   this->exec_->add_node(listener);

diff --git a/source/modulo_components/test/python/test_component_communication.py b/source/modulo_components/test/python/test_component_communication.py
@@ -50,7 +50,7 @@ def test_input_output_invalid(ros_exec, make_minimal_invalid_encoded_state_publi
 
 def test_trigger(ros_exec, make_predicates_listener):
     trigger = Trigger()
-    listener = make_predicates_listener("trigger", ["test"])
+    listener = make_predicates_listener("/trigger", ["test"])
     ros_exec.add_node(listener)
     ros_exec.add_node(trigger)
     ros_exec.spin_until_future_complete(listener.predicates_future, timeout_sec=0.5)

diff --git a/source/modulo_components/test/python/test_lifecycle_component_communication.py b/source/modulo_components/test/python/test_lifecycle_component_communication.py
@@ -77,7 +77,7 @@ def test_input_output_invalid(ros_exec, make_lifecycle_change_client, make_minim
 
 def test_trigger(ros_exec, make_lifecycle_change_client, make_predicates_listener):
     trigger = Trigger()
-    listener = make_predicates_listener("trigger", ["test"])
+    listener = make_predicates_listener("/trigger", ["test"])
     client = make_lifecycle_change_client("trigger")
     ros_exec.add_node(trigger)
     ros_exec.add_node(listener)

diff --git a/source/modulo_core/package.xml b/source/modulo_core/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_core</name>
-  <version>2.2.9</version>
+  <version>2.2.10</version>
   <description>Modulo Core communication and translation utilities for interoperability with AICA Control Libraries</description>
   <maintainer email="baptiste@aica.tech">Baptiste Busch</maintainer>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>

diff --git a/source/modulo_utils/package.xml b/source/modulo_utils/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_utils</name>
-  <version>2.2.9</version>
+  <version>2.2.10</version>
   <description>Modulo utils package for shared test fixtures</description>
   <maintainer email="dominic@aica.tech">Dominic Reber</maintainer>
   <license>GPLv3</license>