From 2bb0b452dddf2dd49335c2ec75717fd37a323540 Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Sat, 14 Dec 2024 09:20:52 -0800 Subject: [PATCH 1/3] add Extra Arguments for Component Manager. Signed-off-by: Tomoya Fujita --- source/Tutorials/Intermediate/Composition.rst | 47 ++++++++++++++++++- 1 file changed, 45 insertions(+), 2 deletions(-) diff --git a/source/Tutorials/Intermediate/Composition.rst b/source/Tutorials/Intermediate/Composition.rst index f8de6942a1b..01d43a56ec3 100644 --- a/source/Tutorials/Intermediate/Composition.rst +++ b/source/Tutorials/Intermediate/Composition.rst @@ -340,8 +340,51 @@ Passing additional arguments into components ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ The ``ros2 component load`` command-line supports passing particular options to the component manager for use when constructing the node. -As of now, the only command-line option that is supported is to instantiate a node using intra-process communication. -This functionality can be used as follows: + +As of now, the following extra arguments are supported. + +.. list-table:: Extra Arguments for Component Manager + :widths: 15 15 15 15 + :header-rows: 1 + + * - Argument + - Type + - Default + - Description + * - ``forward_global_arguments`` + - Boolean + - True + - Apply global arguments to the component node when loading. + * - ``enable_rosout`` + - Boolean + - True + - Enable ``rosout`` topic publisher to the component node. + * - ``use_intra_process_comms`` + - Boolean + - False + - Enable intra-process communication to the component node. + * - ``enable_topic_statistics`` + - Boolean + - False + - Enable topic statistics publisher to the component node. + * - ``start_parameter_services`` + - Boolean + - True + - Enable services to manage parameters to the component node. + * - ``start_parameter_event_publisher`` + - Boolean + - True + - Enable parameter event publisher to the component node. + * - ``use_clock_thread`` + - Boolean + - True + - Enable a dedicated clock thread to the component node. + * - ``enable_logger_service`` + - Boolean + - False + - Enable logger level management service to the component node. + +These optional arguments can be used as follow example of ``use_intra_process_comms``: .. code-block:: bash From 1991c68831dbdaface3088e6416e84c4734e27d1 Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Mon, 16 Dec 2024 20:28:51 -0800 Subject: [PATCH 2/3] move the command line example before the table. Signed-off-by: Tomoya Fujita --- source/Tutorials/Intermediate/Composition.rst | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/source/Tutorials/Intermediate/Composition.rst b/source/Tutorials/Intermediate/Composition.rst index 01d43a56ec3..d557f4d25a9 100644 --- a/source/Tutorials/Intermediate/Composition.rst +++ b/source/Tutorials/Intermediate/Composition.rst @@ -341,6 +341,12 @@ Passing additional arguments into components The ``ros2 component load`` command-line supports passing particular options to the component manager for use when constructing the node. +These optional arguments can be used as follow example of ``use_intra_process_comms`` and ``forward_global_arguments``: + +.. code-block:: bash + + ros2 component load /ComponentManager composition composition::Talker -e use_intra_process_comms:=true -e forward_global_arguments:=false + As of now, the following extra arguments are supported. .. list-table:: Extra Arguments for Component Manager @@ -384,11 +390,6 @@ As of now, the following extra arguments are supported. - False - Enable logger level management service to the component node. -These optional arguments can be used as follow example of ``use_intra_process_comms``: - -.. code-block:: bash - - ros2 component load /ComponentManager composition composition::Talker -e use_intra_process_comms:=true Composable nodes as shared libraries ------------------------------------ From 8c0112bec5dc0fcbb59c8ba04929b3785b7237bb Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Wed, 18 Dec 2024 14:54:56 -0800 Subject: [PATCH 3/3] address review comments. Signed-off-by: Tomoya Fujita --- source/Tutorials/Intermediate/Composition.rst | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/source/Tutorials/Intermediate/Composition.rst b/source/Tutorials/Intermediate/Composition.rst index d557f4d25a9..4f29f380f7a 100644 --- a/source/Tutorials/Intermediate/Composition.rst +++ b/source/Tutorials/Intermediate/Composition.rst @@ -341,13 +341,13 @@ Passing additional arguments into components The ``ros2 component load`` command-line supports passing particular options to the component manager for use when constructing the node. -These optional arguments can be used as follow example of ``use_intra_process_comms`` and ``forward_global_arguments``: +The following example shows the use of the extra arguments ``use_intra_process_comms`` and ``forward_global_arguments``: .. code-block:: bash ros2 component load /ComponentManager composition composition::Talker -e use_intra_process_comms:=true -e forward_global_arguments:=false -As of now, the following extra arguments are supported. +The following extra arguments are supported. .. list-table:: Extra Arguments for Component Manager :widths: 15 15 15 15 @@ -364,31 +364,31 @@ As of now, the following extra arguments are supported. * - ``enable_rosout`` - Boolean - True - - Enable ``rosout`` topic publisher to the component node. + - Enable the ``rosout`` topic publisher in the component node. * - ``use_intra_process_comms`` - Boolean - False - - Enable intra-process communication to the component node. + - Enable intra-process communication in the component node. * - ``enable_topic_statistics`` - Boolean - False - - Enable topic statistics publisher to the component node. + - Enable a topic statistics publisher in the component node. * - ``start_parameter_services`` - Boolean - True - - Enable services to manage parameters to the component node. + - Enable services to manage parameters in the component node. * - ``start_parameter_event_publisher`` - Boolean - True - - Enable parameter event publisher to the component node. + - Enable the parameter event publisher in the component node. * - ``use_clock_thread`` - Boolean - True - - Enable a dedicated clock thread to the component node. + - Enable a dedicated clock thread in the component node. * - ``enable_logger_service`` - Boolean - False - - Enable logger level management service to the component node. + - Enable logger level management service in the component node. Composable nodes as shared libraries