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Bump main to gz-transport 15.0.0~pre1 (#549)
* Bump main to gz-transport 15.0.0~pre1 --------- Signed-off-by: Carlos Agüero <[email protected]>
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‎CMakeLists.txt

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@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
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#============================================================================
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# Initialize the project
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#============================================================================
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project(gz-transport14 VERSION 14.0.0)
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project(gz-transport15 VERSION 15.0.0)
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#============================================================================
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# Find gz-cmake
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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gz_configure_project(VERSION_SUFFIX)
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gz_configure_project(VERSION_SUFFIX pre1)
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#============================================================================
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# Set project-specific options

‎Changelog.md

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## Gazebo Transport 15.X
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### Gazebo Transport 15.0.0 (20XX-XX-XX)
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## Gazebo Transport 14.X
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### Gazebo Transport 14.0.0 (2024-09-25)

‎example/CMakeLists.txt

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project(gz-transport-examples)
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# Find the Gazebo Transport library
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find_package(gz-transport14 QUIET REQUIRED OPTIONAL_COMPONENTS log)
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set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
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find_package(gz-transport15 QUIET REQUIRED OPTIONAL_COMPONENTS log)
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set(GZ_TRANSPORT_VER ${gz-transport15_VERSION_MAJOR})
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if (EXISTS "${CMAKE_SOURCE_DIR}/msgs/")
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# Message generation. Only required when using custom Protobuf messages.

‎package.xml

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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="2">
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<name>gz-transport14</name>
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<version>14.0.0</version>
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<name>gz-transport15</name>
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<version>15.0.0</version>
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<description>Gazebo Transport: Provides fast and efficient asynchronous message passing, services, and data logging.</description>
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<maintainer email="[email protected]">Carlos Agüero</maintainer>
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<license>Apache License 2.0</license>

‎python/examples/data_race_with_mutex.py

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#
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from gz.msgs11.vector3d_pb2 import Vector3d
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from gz.transport14 import Node
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from gz.transport15 import Node
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from threading import Lock
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import time

‎python/examples/data_race_without_mutex.py

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#
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from gz.msgs11.vector3d_pb2 import Vector3d
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from gz.transport14 import Node
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from gz.transport15 import Node
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import time
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‎python/examples/publisher.py

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#! [complete]
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from gz.msgs11.stringmsg_pb2 import StringMsg
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from gz.msgs11.vector3d_pb2 import Vector3d
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from gz.transport14 import Node
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from gz.transport15 import Node
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import time
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‎python/examples/requester.py

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#! [complete]
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from gz.msgs11.stringmsg_pb2 import StringMsg
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from gz.transport14 import Node
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from gz.transport15 import Node
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def main():
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node = Node()

‎python/examples/subscriber.py

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#! [complete]
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from gz.msgs11.stringmsg_pb2 import StringMsg
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from gz.msgs11.vector3d_pb2 import Vector3d
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from gz.transport14 import Node
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from gz.transport15 import Node
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import time
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‎python/src/transport/_gz_transport_pybind11.cc

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.def("has_connections",
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&gz::transport::Node::Publisher::HasConnections,
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"Return true if this publisher has subscribers");
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} // gz-transport14 module
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} // gz-transport15 module
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} // python
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} // transport

‎python/test/options_TEST.py

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from gz.msgs11.stringmsg_pb2 import StringMsg
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from gz.transport14 import Node, AdvertiseMessageOptions, SubscribeOptions, NodeOptions
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from gz.transport15 import Node, AdvertiseMessageOptions, SubscribeOptions, NodeOptions
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import unittest
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‎python/test/pubSub_TEST.py

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from gz.msgs11.stringmsg_pb2 import StringMsg
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from gz.msgs11.vector3d_pb2 import Vector3d
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from gz.transport14 import Node, AdvertiseMessageOptions, SubscribeOptions, TopicStatistics
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from gz.transport15 import Node, AdvertiseMessageOptions, SubscribeOptions, TopicStatistics
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from threading import Lock
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‎python/test/requester_TEST.py

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from gz.msgs11.int32_pb2 import Int32
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from gz.msgs11.stringmsg_pb2 import StringMsg
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from gz.transport14 import Node
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from gz.transport15 import Node
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import os
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import subprocess

‎tutorials/04_messages.md

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## Publisher
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Download the [publisher.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/publisher.cc) file within the `gz_transport_tutorial`
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Download the [publisher.cc](https://github.com/gazebosim/gz-transport/raw/main/example/publisher.cc) file within the `gz_transport_tutorial`
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folder and open it with your favorite editor:
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\snippet example/publisher.cc complete
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## Subscriber
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Download the [subscriber.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/subscriber.cc)
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Download the [subscriber.cc](https://github.com/gazebosim/gz-transport/raw/main/example/subscriber.cc)
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file into the `gz_transport_tutorial` folder and open it with your favorite editor:
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\snippet example/subscriber.cc complete
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## Building the code
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Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/CMakeLists.txt) file within the `gz_transport_tutorial` folder.
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Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/main/example/CMakeLists.txt) file within the `gz_transport_tutorial` folder.
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Once you have all your files, go ahead and create a `build/` directory within
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the `gz_transport_tutorial` directory.
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content of a generic protobuf message using `DebugString()`, among other use
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cases.
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Download the [subscriber_generic.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/subscriber_generic.cc) file within the `gz_transport_tutorial` folder and open it with your favorite editor:
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Download the [subscriber_generic.cc](https://github.com/gazebosim/gz-transport/raw/main/example/subscriber_generic.cc) file within the `gz_transport_tutorial` folder and open it with your favorite editor:
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```{.cpp}
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#include <google/protobuf/message.h>
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project. Next, you can find an example of a publisher and subscriber using a
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custom Protobuf message integrated with CMake.
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Download the [publisher_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/publisher_custom_msg.cc)
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and the [subscriber_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/subscriber_custom_msg.cc)
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Download the [publisher_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/main/example/publisher_custom_msg.cc)
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and the [subscriber_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/main/example/subscriber_custom_msg.cc)
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files within the `gz_transport_tutorial`. Then, create a `msgs` folder and
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download the [stringmsg.proto](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/msgs/stringmsg.proto)
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and the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/msgs/CMakeLists.txt)
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files within the `msgs` folder. Finally, we'll need the main [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/CMakeLists.txt)
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download the [stringmsg.proto](https://github.com/gazebosim/gz-transport/raw/main/example/msgs/stringmsg.proto)
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and the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/main/example/msgs/CMakeLists.txt)
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files within the `msgs` folder. Finally, we'll need the main [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/main/example/CMakeLists.txt)
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file. You should have this file from the previous examples. Otherwise,
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download and place it within the `gz_transport_tutorial` folder.
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‎tutorials/05_services.md

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## Responser
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Download the [responser.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/responser.cc) file within the ``gz_transport_tutorial``
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Download the [responser.cc](https://github.com/gazebosim/gz-transport/raw/main/example/responser.cc) file within the ``gz_transport_tutorial``
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folder and open it with your favorite editor:
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```{.cpp}
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## Synchronous requester
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Download the [requester.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/requester.cc) file within the ``gz_transport_tutorial``
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Download the [requester.cc](https://github.com/gazebosim/gz-transport/raw/main/example/requester.cc) file within the ``gz_transport_tutorial``
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folder and open it with your favorite editor:
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```{.cpp}
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## Asynchronous requester
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Download the [requester_async.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/requester_async.cc) file within the
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Download the [requester_async.cc](https://github.com/gazebosim/gz-transport/raw/main/example/requester_async.cc) file within the
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``gz_transport_tutorial`` folder and open it with your favorite editor:
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```{.cpp}
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Oneway services don't accept any output parameters nor the requests have to wait
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Download the [responser_oneway.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/responser_oneway.cc) file within the
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Download the [responser_oneway.cc](https://github.com/gazebosim/gz-transport/raw/main/example/responser_oneway.cc) file within the
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```{.cpp}
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requesting a service that does not need a response back. We don't need any
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Download the [requester_oneway.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/requester_oneway.cc) file within the
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Download the [requester_oneway.cc](https://github.com/gazebosim/gz-transport/raw/main/example/requester_oneway.cc) file within the
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``gz_transport_tutorial`` folder and open it with your favorite editor:
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```{.cpp}
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Download the [responser_no_input.cc](https://github.com/gazebosim/gz-transport/raw/main/example/responser_no_input.cc)
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file within the ``gz_transport_tutorial`` folder and open it with your
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This case is similar to the service without input parameter. We don't send any
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request.
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Download the [requester_no_input.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/requester_no_input.cc)
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Download the [requester_no_input.cc](https://github.com/gazebosim/gz-transport/raw/main/example/requester_no_input.cc)
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file within the ``gz_transport_tutorial`` folder and open it with your
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service was successfully executed.
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We also have the async version for service request without input. You should
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download [requester_async_no_input.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/requester_async_no_input.cc)
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download [requester_async_no_input.cc](https://github.com/gazebosim/gz-transport/raw/main/example/requester_async_no_input.cc)
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file within the ``gz_transport_tutorial`` folder.
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## Building the code
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Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/CMakeLists.txt) file
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Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/main/example/CMakeLists.txt) file
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within the ``gz_transport_tutorial`` folder. Then, create a `msgs` directory
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and download [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/msgs/CMakeLists.txt) and [stringmsg.proto](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/msgs/stringmsg.proto) inside the
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and download [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/main/example/msgs/CMakeLists.txt) and [stringmsg.proto](https://github.com/gazebosim/gz-transport/raw/main/example/msgs/stringmsg.proto) inside the
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``msgs`` directory.
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Once you have all your files, go ahead and create a ``build/`` folder within

‎tutorials/06_python_support.md

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These features are brought up by creating bindings from the C++ implementation
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using pybind11. It is important to note that not all of C++ features are available
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yet, on this tutorial we will go over the most relevant features. For more information,
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refer to the [__init__.py](https://github.com/gazebosim/gz-transport/blob/gz-transport14/python/src/__init__.py)
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refer to the [__init__.py](https://github.com/gazebosim/gz-transport/blob/main/python/src/__init__.py)
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file which is a wrapper for all the bindings.
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For this tutorial, we will create two nodes that communicate via messages. One node
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## Publisher
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Download the [publisher.py](https://github.com/gazebosim/gz-transport/blob/gz-transport14/python/examples/publisher.py) file within the `gz_transport_tutorial`
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Download the [publisher.py](https://github.com/gazebosim/gz-transport/blob/main/python/examples/publisher.py) file within the `gz_transport_tutorial`
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folder and open it with your favorite editor:
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\snippet python/examples/publisher.py complete
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```{.py}
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from gz.msgs11.stringmsg_pb2 import StringMsg
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from gz.transport14 import Node
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from gz.transport15 import Node
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```
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The library `gz.transport14` contains all the Gazebo Transport elements that can be
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The library `gz.transport15` contains all the Gazebo Transport elements that can be
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used in Python. The final API we will use is contained inside the class `Node`.
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The lines `from gz.msgs11.stringmsg_pb2 import StringMsg` and `from gz.msgs11.vector3d_pb2 import Vector3d`
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## Subscriber
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Download the [subscriber.py](https://github.com/gazebosim/gz-transport/blob/gz-transport14/python/examples/subscriber.py)
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Download the [subscriber.py](https://github.com/gazebosim/gz-transport/blob/main/python/examples/subscriber.py)
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file into the `gz_transport_tutorial` folder and open it with your favorite editor:
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\snippet python/examples/subscriber.py complete
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```{.py}
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```
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Just as before, we are importing the `Node` class from the `gz.transport14` library
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Just as before, we are importing the `Node` class from the `gz.transport15` library
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and the generated code for the `StringMsg` and `Vector3d` protobuf messages.
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```{.py}
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We developed a couple of examples that demonstrate this particular issue. Take
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a look at a publisher and subscriber (whithin the same node) that have race
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conditions triggered in the [data_race_without_mutex.py](https://github.com/gazebosim/gz-transport/blob/gz-transport14/python/examples/data_race_without_mutex.py) file. The proposed solution to this
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conditions triggered in the [data_race_without_mutex.py](https://github.com/gazebosim/gz-transport/blob/main/python/examples/data_race_without_mutex.py) file. The proposed solution to this
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issue is to use the `threading` library, you can see the same example with a mutex
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in the [data_race_with_mutex.py](https://github.com/gazebosim/gz-transport/blob/gz-transport14/python/examples/data_race_with_mutex.py) file.
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in the [data_race_with_mutex.py](https://github.com/gazebosim/gz-transport/blob/main/python/examples/data_race_with_mutex.py) file.
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You can run any of those examples by just doing the following in a terminal:
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```{.sh}
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```{.py}
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node = Node()
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```{.py}
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def stringmsg_cb(msg: StringMsg):
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print("Received StringMsg: [{}]".format(msg.data))
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```{.py}
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from gz.transport14 import Node, NodeOptions
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from gz.transport15 import Node, NodeOptions
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# Create a transport node and remap a topic.
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nodeOpts = NodeOptions()
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## Service Requester
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Download the [requester.py](https://github.com/gazebosim/gz-transport/blob/gz-transport14/python/examples/requester.py)
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Download the [requester.py](https://github.com/gazebosim/gz-transport/blob/main/python/examples/requester.py)
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file into the `gz_transport_tutorial` folder and open it with your favorite editor:
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\snippet python/examples/requester.py complete
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```{.py}
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from gz.transport15 import Node
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```
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Just as before, we are importing the `Node` class from the `gz.transport14`
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Just as before, we are importing the `Node` class from the `gz.transport15`
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library and the generated code for the `StringMsg` protobuf message.
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```{.py}
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Unfortunately, this feature is not available on Python at the moment. However,
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we can use a service responser created in C++ and make a request to it from a
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code in Python. Taking that into account, we will use the [response.cc](https://github.com/gazebosim/gz-transport/blob/gz-transport14/example/responser.cc) file as the service responser.
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code in Python. Taking that into account, we will use the [response.cc](https://github.com/gazebosim/gz-transport/blob/main/example/responser.cc) file as the service responser.
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## Running the examples
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‎tutorials/08_relay.md

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@@ -25,11 +25,11 @@ install Docker following any of the existing guides available
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([here](https://docs.docker.com/get-docker/)'s one).
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We're going to build a Docker image and run it inside your host computer.
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Download the [build.bash](https://github.com/gazebosim/gz-transport/raw/gz-transport14/docker/build.bash), [run.bash](https://github.com/gazebosim/gz-transport/raw/gz-transport14/docker/run.bash) and
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[Dockerfile](https://github.com/gazebosim/gz-transport/raw/gz-transport14/docker/gz-transport/Dockerfile) files.
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Download the [build.bash](https://github.com/gazebosim/gz-transport/raw/main/docker/build.bash), [run.bash](https://github.com/gazebosim/gz-transport/raw/main/docker/run.bash) and
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[Dockerfile](https://github.com/gazebosim/gz-transport/raw/main/docker/gz-transport/Dockerfile) files.
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```{.sh}
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wget https://github.com/gazebosim/gz-transport/raw/gz-transport14/docker/gz-transport/Dockerfile -O Dockerfile
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wget https://github.com/gazebosim/gz-transport/raw/main/docker/gz-transport/Dockerfile -O Dockerfile
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```
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Now, it's time to build the Docker image:

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