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ros2_d's Issues

pub/sub を追加

最低限の publisher / subscriber を作成する。

  • publisher
  • subscriber

Support all types of messages

Various of message examples are shown in test_interface_files. So check comprehensiveness by using it.

  • Arrays
  • BasicTypes
  • BoundedPlainSequences (from rolling)
  • BoundedSequences
  • Constants
  • Defaults
  • Empty
  • MultiNested
  • Nested
  • Strings
  • UnboundedSequences
  • WStrings

Cannot build with dmd 2.098.1

https://github.com/nonanonno/ros2_d/runs/4628352818?check_suite_focus=true#step:4:24

/tmp/runner/work/_tool/dc/dmd-2.098.1/x64/dmd2/linux/bin64/../../src/phobos/std/container/slist.d(161,28): Error: copy constructor `std.container.slist.SList!(Structure).SList.Node.this(return ref scope inout(Node) p) inout` is not callable using argument types `(typeof(null), Structure)`
/tmp/runner/work/_tool/dc/dmd-2.098.1/x64/dmd2/linux/bin64/../../src/phobos/std/container/slist.d(161,28):        cannot pass rvalue argument `null` of type `typeof(null)` to parameter `return ref scope inout(Node) p`
/tmp/runner/work/_tool/dc/dmd-2.098.1/x64/dmd2/linux/bin64/../../src/phobos/std/container/slist.d(172,34): Error: template instance `std.container.slist.SList!(Structure).SList.createNodeChain!(Range)` error instantiating
/tmp/runner/work/_tool/dc/dmd-2.098.1/x64/dmd2/linux/bin64/../../src/phobos/std/container/slist.d(409,31):        instantiated from here: `insertAfterNode!(Range)`
/tmp/runner/work/_tool/dc/dmd-2.098.1/x64/dmd2/linux/bin64/../../src/phobos/std/container/slist.d(198,20):        instantiated from here: `insertFront!(Range)`
/tmp/runner/work/_tool/dc/dmd-2.098.1/x64/dmd2/linux/bin64/../../src/phobos/std/container/slist.d(294,21):        instantiated from here: `__ctor!(Range)`
msg_gen/source/msg_gen/parsers/idl.d(85,9):        instantiated from here: `SList!(Structure)`
/tmp/runner/work/_tool/dc/dmd-2.098.1/x64/dmd2/linux/bin64/dmd failed with exit code 1.
dub build :msg_gen : failed

rosidl_generator_d を作成

msg 型を生成する rosidl_generator_d package を作成する。

Tasks

  • 作成方法調査
  • 型定義方法を検討
  • 実装

Create a robust executor

Currently I'm facing the following issues.

  • Service
    • Pass rcl_wait more than two times while sending only one request
    • Result in 601
  • Subscription
    • Sometime failed with 401

rcld package の作成

D client library である rcld package の枠を作成する。単にノードが起動すれば良い。

Tasks

  • フォルダ構成決め
  • rcld.Node クラスの作成
  • colcon build 対応 (optional)

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