expose rcl_graph interfaces with test cases

ros2 / rclcpp

rclcpp (ROS Client Library for C++)

Apache License 2.0

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expose rcl_graph interfaces with test cases #1483

Closed fujitatomoya closed 3 years ago

fujitatomoya commented 3 years ago

Feature request

Feature description

The following rcl_graph interfaces are not exposed to rclcpp::node_interfaces::NodeGraph.

rcl_get_publisher_names_and_types_by_node
rcl_get_subscriber_names_and_types_by_node
rcl_get_client_names_and_types_by_node
rcl_get_node_names_with_enclaves

Implementation considerations

Implementation should be straight-forward to just bind the interfaces from rcl to rclcpp.

Note

rclpy does have all of the rcl_graph.

fujitatomoya commented 3 years ago

@ivanpauno

not urgent. but when you got time, could you take a look and share your thougths?

ivanpauno commented 3 years ago

I'm marking this as help wanted good first issue, as anybody that need those methods exposed in rclcpp can create a PR.

Up to now, those were only exposed in rclpy and are mainly being used in the ros2cli tools (I don't know of much user code making use of them directly).

ivanpauno commented 3 years ago

Ah, I didn't see there was a PR already :grimacing: