Node as a component - Githubissues

stonier / ueye_cam

A ROS nodelet and node that wraps the driver API for UEye cameras by IDS Imaging Development Systems GMBH.

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Node as a component #28

Closed stonier closed 3 years ago

stonier commented 3 years ago

Replace the nodelet functionality.

stonier commented 3 years ago

# Development support for components (libraries, headers, cmake modules)
$ sudo apt install ros-dashing-rclcpp-components
# The command line tool
$ sudo apt install ros-dashing-ros2component
# Example talker/listener components
$ sudo apt install ros-dashing-composition

# Discovery
$ ros2 component types
composition
  composition::Talker
  composition::Listener
  composition::Server
  composition::Client

Rclcpp Components - cmake macors
Composition - a package of example talkiner/listener nodes
Components Tutorial - for dashing, uses

stonier commented 3 years ago

Q: What registers the node for discovery as a component?

There's the rclcpp_components_register_nodes cmake macro, but that doesn't seem to do the command line registration.

stonier commented 3 years ago

composition leaves markers in share/ament_index/resource_index/rclcpp_components/composition.
ueye_cam leaves no markers
A source build of composition does leave markers (eliminates build / workspace problems)

Flummoxing...

stonier commented 3 years ago

Aha...bug in rclcpp_components. The macro quietly fails when used in a nested CMakeLists.txt - https://github.com/ros2/rclcpp/issues/1698.