Merge branch 'humble' of https://github.com/ros2/rclc into humble

rclc_examples/src/example_action_client.c

@@ -154,6 +154,11 @@ int main()
 
   // Create executor
   rclc_executor_t executor;
+  // Note:
+  // If you need more than the default number of publisher/subscribers, etc., you
+  // need to configure the micro-ROS middleware also!
+  // See documentation in the executor.h at the function rclc_executor_init()
+  // for more details.
   rclc_executor_init(&executor, &support.context, 1, &allocator);
 
   example_interfaces__action__Fibonacci_FeedbackMessage ros_feedback;

rclc_examples/src/example_action_server.c

@@ -139,6 +139,11 @@ int main()
   );
 
   // Create executor
+  // Note:
+  // If you need more than the default number of publisher/subscribers, etc., you
+  // need to configure the micro-ROS middleware also!
+  // See documentation in the executor.h at the function rclc_executor_init()
+  // for more details.
   rclc_executor_t executor;
   rclc_executor_init(&executor, &support.context, 1, &allocator);
 

rclc_examples/src/example_client_node.c

@@ -58,6 +58,11 @@ int main(int argc, const char * const * argv)
       ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, srv, AddTwoInts), "/addtwoints"));
 
   // create executor
+  // Note:
+  // If you need more than the default number of publisher/subscribers, etc., you
+  // need to configure the micro-ROS middleware also!
+  // See documentation in the executor.h at the function rclc_executor_init()
+  // for more details.
   rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
   RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
 
@@ -75,9 +80,7 @@ int main(int argc, const char * const * argv)
   RCCHECK(rcl_send_request(&client, &req, &seq))
   printf("Send service request %ld + %ld.\n", req.a, req.b);
 
-  // Optional prepare for avoiding allocations during spin
-  rclc_executor_prepare(&executor);
-
+  // Start Executor
   rclc_executor_spin(&executor);
 
   RCCHECK(rcl_client_fini(&client, &node));

rclc_examples/src/example_executor.c

@@ -139,10 +139,10 @@ int main(int argc, const char * argv[])
   // total number of handles = #subscriptions + #timers
   //
   // Note:
-  // If you need more than the default number of publisher/subscribers, etc., you 
+  // If you need more than the default number of publisher/subscribers, etc., you
   // need to configure the micro-ROS middleware also!
-  // See documentation in the executor.h at the function rclc_executor_init() 
-  // for more details. 
+  // See documentation in the executor.h at the function rclc_executor_init()
+  // for more details.
   unsigned int num_handles = 1 + 1;
   printf("Debug: number of DDS handles: %u\n", num_handles);
   rclc_executor_init(&executor, &support.context, num_handles, &allocator);
@@ -160,6 +160,7 @@ int main(int argc, const char * argv[])
     printf("Error in rclc_executor_add_timer.\n");
   }
 
+  // Start Executor
   rclc_executor_spin(&executor);
 
   // clean up (never called in this example)

rclc_examples/src/example_executor_only_rcl.c

@@ -160,10 +160,10 @@ int main(int argc, const char * argv[])
   rclc_executor_t executor;
 
   // Note:
-  // If you need more than the default number of publisher/subscribers, etc., you 
+  // If you need more than the default number of publisher/subscribers, etc., you
   // need to configure the micro-ROS middleware also!
-  // See documentation in the executor.h at the function rclc_executor_init() 
-  // for more details. 
+  // See documentation in the executor.h at the function rclc_executor_init()
+  // for more details.
   unsigned int num_handles = 1 + 1;
   printf("Debug: number of DDS handles: %u\n", num_handles);
   rclc_executor_init(&executor, &context, num_handles, &allocator);
@@ -187,7 +187,7 @@ int main(int argc, const char * argv[])
   if (rc != RCL_RET_OK) {
     printf("Error in rclc_executor_add_timer.\n");
   }
-
+  // Start Executor
   rclc_executor_spin(&executor);
 
   // clean up (never reached)

rclc_examples/src/example_executor_trigger.c

@@ -317,8 +317,12 @@ int main(int argc, const char * argv[])
   rclc_executor_t executor_pub;
   rclc_executor_t executor_sub;
 
-
-  // Executor for publishing messages
+  // Executor
+  // Note:
+  // If you need more than the default number of publisher/subscribers, etc., you
+  // need to configure the micro-ROS middleware also!
+  // See documentation in the executor.h at the function rclc_executor_init()
+  // for more details.
   unsigned int num_handles_pub = 2;
   printf("Executor_pub: number of DDS handles: %u\n", num_handles_pub);
   rclc_executor_init(&executor_pub, &support.context, num_handles_pub, &allocator);

rclc_examples/src/example_lifecycle_node.c

@@ -96,6 +96,11 @@ int main(int argc, const char * argv[])
   }
 
   // Executor
+  // Note:
+  // If you need more than the default number of publisher/subscribers, etc., you
+  // need to configure the micro-ROS middleware also!
+  // See documentation in the executor.h at the function rclc_executor_init()
+  // for more details.
   rclc_executor_t executor;
   RCCHECK(rclc_executor_init(
     &executor,

rclc_examples/src/example_parameter_server.c

@@ -101,6 +101,11 @@ int main()
     timer_callback);
 
   // Create executor
+  // Note:
+  // If you need more than the default number of publisher/subscribers, etc., you
+  // need to configure the micro-ROS middleware also!
+  // See documentation in the executor.h at the function rclc_executor_init()
+  // for more details.
   rclc_executor_t executor;
   rclc_executor_init(
     &executor, &support.context, RCLC_EXECUTOR_PARAMETER_SERVER_HANDLES + 1,
@@ -132,9 +137,7 @@ int main()
   rclc_parameter_get_int(&param_server, "param2", &param2);
   rclc_parameter_get_double(&param_server, "param3", &param3);
 
-  // Optional prepare for avoiding allocations during spin
-  rclc_executor_prepare(&executor);
-
+  // Start Executor
   rclc_executor_spin(&executor);
 
   // clean up

rclc_examples/src/example_pingpong.cpp

@@ -366,6 +366,11 @@ int main(int argc, const char * argv[])
     rclc_executor_t ping_executor;
     ping_executor = rclc_executor_get_zero_initialized_executor();
     // total number of handles = #subscriptions + #timers + #Services (in below case services are 0)
+    // Note:
+    // If you need more than the default number of publisher/subscribers, etc., you
+    // need to configure the micro-ROS middleware also!
+    // See documentation in the executor.h at the function rclc_executor_init()
+    // for more details.
     unsigned int pingNode_num_handles = 1 + 1;
     printf("Debug: number of DDS handles: %u\n", pingNode_num_handles);
     rclc_executor_init(&ping_executor, &support.context, pingNode_num_handles, &allocator);
@@ -412,13 +417,10 @@ int main(int argc, const char * argv[])
       printf("Error in rclc_executor_add_timer.\n");
     }
 
-
-    // Optional prepare for avoiding allocations during spin
+    // Optional: prepare for avoiding allocations during spin
     rclc_executor_prepare(&ping_executor);
     rclc_executor_prepare(&pong_executor);
 
-    // rclc_executor_spin(&executor ); end less loop
-
     for (unsigned int i = 0; i < 10; i++) {
         // timeout specified in nanoseconds (here 1s)
       rclc_executor_spin_some(&ping_executor, RCL_MS_TO_NS( 1000 ));

rclc_examples/src/example_service_node.c

@@ -66,6 +66,11 @@ int main(int argc, const char * const * argv)
 
   // create executor
   rclc_executor_t executor = rclc_executor_get_zero_initialized_executor();
+  // Note:
+  // If you need more than the default number of publisher/subscribers, etc., you
+  // need to configure the micro-ROS middleware also!
+  // See documentation in the executor.h at the function rclc_executor_init()
+  // for more details.
   RCCHECK(rclc_executor_init(&executor, &support.context, 1, &allocator));
 
   unsigned int rcl_wait_timeout = 1000;  // in ms

rclc_examples/src/example_short_timer_long_subscription.c

@@ -162,6 +162,11 @@ int main(int argc, const char * argv[])
   // total number of handles = #subscriptions + #timers
   // check also xrce-dds configuration for maximum number of publisher, 
   // subscribers, timers etc. 
+  // Note:
+  // If you need more than the default number of publisher/subscribers, etc., you
+  // need to configure the micro-ROS middleware also!
+  // See documentation in the executor.h at the function rclc_executor_init()
+  // for more details.
   unsigned int num_handles = 1 + 2;
   printf("Debug: number of DDS handles: %u\n", num_handles);
   rclc_executor_init(&executor, &support.context, num_handles, &allocator);
@@ -183,10 +188,9 @@ int main(int argc, const char * argv[])
   if (rc != RCL_RET_OK) {
     printf("Error in rclc_executor_add_timer.\n");
   }
-
+  // Start Executor
   rclc_executor_spin(&executor);
 
-
   // clean up
   rc = rclc_executor_fini(&executor);
   rc += rcl_publisher_fini(&my_pub, &my_node);

rclc_examples/src/example_sub_context.c

@@ -142,6 +142,11 @@ int main(int argc, const char * argv[])
   rclc_executor_t executor;
   executor = rclc_executor_get_zero_initialized_executor();
   // total number of handles = #subscriptions + #timers
+  // Note:
+  // If you need more than the default number of publisher/subscribers, etc., you
+  // need to configure the micro-ROS middleware also!
+  // See documentation in the executor.h at the function rclc_executor_init()
+  // for more details.
   unsigned int num_handles = n_topics + 0;
   printf("Debug: number of DDS handles: %u\n", num_handles);
   rclc_executor_init(&executor, &support.context, num_handles, &allocator);