CHANGELOG
Changelog for package rosbridge_library
2.1.0 (2024-10-08)
2.0.0 (2024-10-08)
Fix action cancellation by passing status from JSON (#953)
Update pre-commit and fix issues (#954)
Fix length-limited list types (#840)
fix: update new subs with dds from publisher (#940)
Avoid stale subscription when unsubscribing during resubscription (#948)
Changed type hints in ros_loader.py to use imports from Typing (#938)
Avoid stack traces when aborting an advertised action goal (#906)
Timeout if service server not available within server_timeout_time (#905)
Use ROS 2 Node Clock in Message Conversion (#900)
Fix issues when canceling and unadvertising actions (#896)
Support actions in rosbridge protocol (#886)
Port unit tests to ROS 2 + Fix CBOR conversion and PNG compression (#882)
Contributors: Brad Martin, Dimitri Nikitopoulos, EricGallimore, Ezra Brooks, Paul Gesel, Sebastian Castro, michael-cmt
1.3.2 (2023-09-27)
1.3.1 (2022-10-21)
Optimized large binary array publishing (#819)
Skip unnecessary conversion for cbor/cbor-raw compression (#792) (#800)
Improve robustness for multiple client connections (#803)
Minor performance improvements (#809)
Fix duplicate subscription created with wrong ‘raw’ attribute. (#798)
Contributors: Hans-Joachim Krauch, Steffen Nattke, Ted Sender
1.3.0 (2022-08-16)
1.2.0 (2022-05-20)
1.1.2 (2022-01-03)
1.1.1 (2021-12-09)
Allow subscribing to any qos profile when creating a subscriber (#690)
Fix and add test for multiple subscribers to same topic (#687)
Fix error when advertising duplicate service (#683)
Fix incoming service calls (#669)
Replace busy wait in AdvertiseService with async handler (#666)
Contributors: Domenic Rodriguez, Jacob Bandes-Storch, Roman Shtylman
1.1.0 (2021-10-22)
Fix test imports from rosbridge_test_msgs (#668)
Move msg/srv from rosapi and rosbridge_library into separate packages; enable Rolling in CI (#665)
Fix test_services.py (#653)
Fix unused variables: flake8 –select=F841 (#623)
Remove get_service_instance from ros_loader (#647)
Fix test settings for rosbridge_library (#643)
Fix DOS line endings (#658)
Add pre-commit, format with black and isort (#648)
Contributors: Adrian Macneil, Christian Clauss, Domenic Rodriguez, Jacob Bandes-Storch, Kenji Miyake
1.0.8 (2021-08-26)
Fix various Python code style and lint issues
Contributors: Christian Clauss, Jacob Bandes-Storch
1.0.7 (2021-08-18)
Fix typos discovered by codespell (#600)
Contributors: Christian Clauss
1.0.6 (2021-08-17)
Fix broken links in changelogs
Contributors: Jacob Bandes-Storch
1.0.5 (2021-08-12)
1.0.4 (2021-08-11)
1.0.3 (2021-08-03)
Add cbor-raw compression support (#574, adapted from ROS 1 implementation #452)
Adaptations to Eloquent [Again] (#533) * increase spin period to 1000Hz to allow 1000 messages per second into the websocket * allow interpreting int as float when needed * better handling array.array and numpy arrays * allow bytes and str websocket messages * add boolean type * handle type extraction of static array rostypes * missing cls variable Co-authored-by: Maximilian Matthe <maxi.matthe@googlemail.com> Co-authored-by: CoRoLa generic <corola@bi> Co-authored-by: joshwapohlmann <joshwa.pohlmann@barkhauseninstitut.org>
Fix for type error caused by appending byte arrays to empty string buffer (#507)
Contributors: Connor Brooks, Jacob Bandes-Storch, travipross
1.0.2 (2019-09-24)
use Python 3 dependency keys (#436)
1.0.1 (2019-09-20)
1.0.0 (2019-09-19)
Port to ROS 2
0.11.3 (2019-08-07)
0.11.2 (2019-07-08)
0.11.1 (2019-05-08)
fixed logwarn msg formatting in publishers (#398)
Contributors: Gautham P Das
0.11.0 (2019-03-29)
BSON can send Nan and Inf (#391)
Contributors: akira_you
0.10.2 (2019-03-04)
Fix typo (#379)
Contributors: David Weis
0.10.1 (2018-12-16)
Inline cbor library (#377) Prefer system version with C speedups, but include pure Python implementation.
Contributors: Matt Vollrath
0.10.0 (2018-12-14)
CBOR encoding (#364) * Add CBOR encoding * Fix value extraction performance regression Extract message values once per message. * Fix typed array tags Was using big-endian tags and encoding little-endian. Always use little-endian for now since Intel is prevalent for desktop. Add some comments to this effect. * Update CBOR protocol documentation More information about draft typed arrays and when to use CBOR. * Fix 64-bit integer CBOR packing Use an actual 64-bit format.
use package format 2, remove unnecessary dependencies (#348)
removing has_key for python3, keeping backwards compatibility (#337) * removing has_key for python3, keeping backwards compatibility * py3 change for itervalues, keeping py2 compatibility
Contributors: Andreas Klintberg, Dirk Thomas, Matt Vollrath
0.9.0 (2018-04-09)
Fix typo in function call
Add missing argument to InvalidMessageException (#323) Add missing argument to InvalidMessageException constructor
Make unregister_timeout configurable (#322) Pull request #247 introduces a 10 second delay to mitigate issue #138. This change makes this delay configurable by passing an argument either on the command line or when including a launch file. Usage example:
`xml <launch> <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"> <arg name="unregister_timeout" value="5.0"/> </include> </launch> `Closes #320message_conversion: create stand-alone object inst (#319) Catching the ROSInitException allows to create object instances without an initialized ROS state
Fixes #313 by fixing has_binary in protocol.py (#315) * Fixes #313 by fixing has_binary in protocol.py Checks for lists that have binary content as well as dicts * Minor refactoring for protocol.py
fix fragment bug (#316) * fix bug that lost data while sending large packets * fixed travis ci failed by @T045T * fixed travis ci failed by @T045T * travis ci failed * fix rosbridge_library/test/experimental/fragmentation+srv+tcp test bug * sync .travis.yaml * fix the service_response message bug * fix the fragment paring error * fix indentation of “service” line
add graceful_shutdown() method to advertise_service capability This gives the service a bit of time to cancel any in-flight service requests (which should fix #265). This is important because we busy-wait for a rosbridge response for service calls and those threads do not get stopped otherwise. Also, rospy service clients do not currently support timeouts, so any clients would be stuck too. A new test case in test_service_capabilities.py verifies the fix works
Add rostest for service capabilities and fix bugs also fixed some typos
Fix Travis config (#311) * fix Travis config dist: kinetic is currently unsupported * fix rostests for some reason, rostest seems to hide the rosout node - changed tests to use other services
Contributors: Anwar, Johannes Rothe, Jørgen Borgesen, Nils Berg, Phil, WH-0501, elgarlepp
0.8.6 (2017-12-08)
0.8.5 (2017-11-23)
Raise if inappropriate bson module is installed (Appease #198) (#270) * Raise Exception if inappropriate bson module is installed (Related to #198)
Add Python3 compatibility (#300) * First pass at Python 3 compatibility * message_conversion: Only call encode on a Python2 str or bytes type * protocol.py: Changes for dict in Python3. Compatible with Python 2 too. * More Python 3 fixes, all tests pass * Move definition of string_types to rosbridge_library.util
Contributors: Junya Hayashi, Kartik Mohta
0.8.4 (2017-10-16)
0.8.3 (2017-09-11)
Type conversion convention correction, correcting issue #240
Contributors: Alexis Paques
0.8.2 (2017-09-11)
0.8.1 (2017-08-30)
remove ujson from dependency to build in trusty (#290)
Contributors: Jihoon Lee
0.8.0 (2017-08-30)
Cleaning up travis configuration (#283) configure travis to use industial ci configuration. Now it uses xenial and kinetic
Merge pull request #272 from ablakey/patch-1 Prevent a KeyError when bson_only_mode is unset.
Update protocol.py Prevent a KeyError when bson_only_mode is unset.
Merge pull request #257 from Sanic/bson-only-mode Implemented a bson_only_mode flag for the TCP version of rosbridge
Merge pull request #247 from v-lopez/develop Delay unregister to mitigate #138
Change class constant to module constant
Reduce timeout for tests Tests will sleep for 10% extra of the timeout to prevent some situations were the test sleep ended right before the unregister timer fired
Fix test advertise errors after delayed unregister changes
Fix missing tests due to delayed unregistration
Move UNREGISTER_TIMEOUT to member class so it’s accessible from outside
minor change in variable usage
Implemented a bson_only_mode flag for the TCP version of rosbridge; This allows you to switch to a full-duplex transmission of BSON messages and therefore eliminates the need for a base64 encoding of binary data; Use the new mode by starting:’roslaunch rosbridge_server rosbridge_tcp.launch bson_only_mode:=True’ or passing ‘–bson_only_mode’ to the rosbridge_tcp.py script
Delay unregister to mitigate !138
Contributors: Andrew Blakey, Jihoon Lee, Nils Berg, Patrick Mania, Victor Lopez
0.7.17 (2017-01-25)
adjust log level for security globs Normal operation (i.e. no globs or successful verification of requests) is now silent, with illegal requests producing a warning.
add missing import
correct default values for security globs also accept empty list as the default “do not check globs” value in addition to None. Finally, append rosapi service glob after processing command line input so it’s not overwritten
Added services_glob to CallServices, added globs to rosbridge_tcp and rosbridge_udp, and other miscellaneous fixes.
As per the suggestions of @T045T, fixed several typos, improved logging, and made some style fixes.
Added new parameters for topic and service security. Added 3 new parameters to rosapi and rosbridge_server which filter the topics, services, and parameters broadcast by the server to match an array of glob strings.
Contributors: Eric, Nils Berg
0.7.16 (2016-08-15)
Fixed deprecated code in pillow
Contributors: vladrotea
0.7.15 (2016-04-25)
changelog updated
Contributors: Russell Toris
0.7.14 (2016-02-11)
Another fix for code
Replaced += with ‘’.join() for python code
Default Protocol delay_between_messages = 0 This prevents performance problems when multiple clients are subscribing to high frequency topics. Fixes #203
Contributors: Matt Vollrath, kiloreux
0.7.13 (2015-08-14)
Nevermind o_O
Add test_depend too (just in case)
Add dependency on python bson
Get parameter at encode time
Add flag for using the bson encoding
revert comment regarding unpublisher
avoiding racing condition
Add bson encoding to the server side
Fix catkin_lint issues
don’t unregister topic from rosbridge. It creates md5 sum warning.. #138
Contributors: David Lu, Jihoon Lee, Matt Vollrath, dwlee
0.7.12 (2015-04-07)
use <test_depend> for test dependencies
use rospy.resolve_name for namespaced service calls
fix resolving namespaced service calls
Contributors: Ramon Wijnands
0.7.11 (2015-03-23)
0.7.10 (2015-02-25)
0.7.9 (2015-02-24)
0.7.8 (2015-01-16)
0.7.7 (2015-01-06)
0.7.6 (2014-12-26)
0.7.5
update changelog
0.7.4
changelog updated
0.7.3
changelog updated
0.7.2
changelog updated
0.7.1
update changelog
0.7.0
changelog updated
rewrite of advertise service
cleanup init function
matches original call_service
matches original call_service
service_request –> reuse of call_service (previously defined)
stop_service –> unadvertise_service
service_name –> service
service_type –> type
removed service_module
request_id –> id
Contributors: Jihoon Lee, Russell Toris
0.7.5 (2014-12-26)
0.7.4 (2014-12-16)
0.7.3 (2014-12-15)
0.7.2 (2014-12-15)
0.7.1
update changelog
Contributors: Jihoon Lee
0.7.1 (2014-12-09)
0.7.0 (2014-12-02)
rewrite of advertise service
cleanup init function
matches original call_service
matches original call_service
service_request –> reuse of call_service (previously defined)
stop_service –> unadvertise_service
service_name –> service
service_type –> type
removed service_module
request_id –> id
Contributors: Russell Toris
0.6.8 (2014-11-05)
add a lock to calls to load_manifest - apparently, it’s not thread safe fixes #103 and #108
Contributors: Nils Berg
0.6.7 (2014-10-22)
updated package manifests
Contributors: Russell Toris
0.6.6 (2014-10-21)
0.6.5 (2014-10-14)
0.6.4
update changelog
modify tests less duplicated code, some other changes to (hopefully) improve reliability. Tested locally about 30 times without encountering any failures.
Change the behavior of MessageHandler.transition() Now reflects usage in the tests, i.e. a QueueMessageHandler only needs queue_length to be defined, not throttle_rate.
0.6.3
update change log
install util python module to fix #128
Contributors: Jihoon Lee, Nils Berg
0.6.4 (2014-10-08)
0.6.3 (2014-10-07)
install util python module to fix #128
Contributors: Jihoon Lee
0.6.2 (2014-10-06)
Remove unused json imports; move json imports to utility Fixes #7
Contributors: Graeme Yeates
0.6.1 (2014-09-01)
Handle float infinity and NAN s
Windows-related fix for PIL Image module import
Fixed typo in raising type errors.
something messed up indentation not sure how that could happen, worked here.
map Inf and NaN to null JSON does not support Inf and NaN values. Currently they are just written into the JSON and JSON.parse on the client side will fail. Correct is to map them to null which will then be parsed correctly by JSON.parse on the client side. The issue with that is that the shortcut for lists of floats might be impossible (maybe someone else with more experience in python comes up with something else?). Maybe something similar is necessary in the to_inst case, but I can not really test them. Real world application is to process laser scans, they contain inf and nan values for some drivers if the measurements are invalid or out of range.
Update .travis.yml and package.xml for rosbridge_library tests
Put back unregister for the publisher and clarify the reconnect behavior of the test case. The exponential backoff of the client causes hard to understand timing of the events. All specs passed locally on hydro: SUMMARY * RESULT: SUCCESS * TESTS: 103 * ERRORS: 0 * FAILURES: 0
Add copyright notice to the file
Remove extra whitespace
Make the test more deterministic
Remove circular dependency.
Contributors: Achim Konigs, Alex Sorokin, Alexander Sorokin, Jonathan Wade, jon-weisz
0.6.0 (2014-05-23)
Ensure that service name is a string Closes #104
Contributors: Piyush Khandelwal
0.5.4 (2014-04-17)
removing wrong import
test case for fixed size of uint8 array
uses regular expression to match uint8 array and char array.
logerr when it fails while message_conversion
Contributors: Jihoon Lee
0.5.3 (2014-03-28)
use queue_size for publishers
Contributors: Jon Binney
0.5.2 (2014-03-14)
First attempt adding latching support for topic publishers
merging changes of groovy-devel into hydro-devel
adding missing dependency in rosbridge_library #70
Fixed wrong unicode encoding
support publishing non-ascii letters
Added error message on result=False When call_service returns False as result, values contains the error message.
added parameter lookup to rosbridge_tcp.py, modules where those are used, and default parameters to launch file; internal default-values still get used when launch-file does not provide them; internal defaults can be changed within rosbridge_tcp.py
Merge branch ‘experimental_branch’ into new_features
fix handling of partial/multiple/broken json by avoiding to pass nested json (without op-field) to rosbridge.. probably still needs more complex handling of incoming ‘broken’ json
nested service not MiRoR related anymore
added singleton for request-list; allows provider to send service response without specifying module and type, they get looked up when response is received via request_id
fix for nested service responses - use ros_loader and message_conversion for populating an according instance
use message_conversion in handle_servie_request
snapshot for branch to show to genpy devs
using float64 instead of std_msgs/Float64 lets scripts run fine.. ; next: fix with using std_msgs/Float64 –> need nested data field
nested srv uses now message_conversion.extract_values
adapted test scripted to ros_loader; (removed .srv from module_name
use rosloader for finding service_class
fixed calculation of fragment_count
cleanup: files, notes, some code
added message_field <message_intervall> to allow client to control delay between messages from rosbridge
added TODO: check if service successfully registered in ros
added description of new opcodes
tests, comments, description, ..
tested rosbridge_websocket with new capabilities; websocket test scripts not working yet..; but new caps are working when using rosbridge_websocket and tcp2ws wrapper –> so only testscripts need to be fixed for websockets.
updated websocket test service server and client script to use websocket
updated websocket test service server script to use websocket
added files to test new caps with websocket server
feierabend.. morgen weiter mit server & client JSON-decoder, see notes
fixed parsing of incomplete/multiple JSON in incoming buffer; so clients do not need to use an interval when sending to rosbridge
only current changes; not yet done..
code cleanup, not yet finished..; rosbridge logging much cleaner now
fixed test_server_defragment - recodegit status
minor
linuxonandroid
fixed some parts; ..still better do some redesign for queueing of messages..
forced tcp_send to use queue and use delay between sends
blocking behavior for service requests to non-ros; test-scripts use get-ip4 helper function; ..needs a lot cleanup before next steps..
need to implement server side blocking of multiple requests, to keep implementation of service provider as easy and simple as possible
not finished
some changes.. still needs several fixes
unique request_ids
fixed deserialization of multiple fragments in incoming-data; was caused by too short delay between socket-sends (<0.2 seconds); maybe only temp. fixed
added fragment sorting to test-client and test-server
message_size debugging; TODO: sort list of received fragments! ; make sure receive_buffers are big enough for fragment_size + header..
minor changes
testing: service server fragmentsizes receive: 1 send: 1; client fragmentsize receive: 1; is working..
fixed an error that caused service_response to appear quoted as string once too often; should be ok now
fragmentation basically working; service_server can request fragmented service_calls, service_client can request fragmented responses; fragmentation can be requested by adding fragmentation_size parameter to any message sent to rosbridge
some code cleanup
set service_request_timeout back to 60 seconds; had 2s from timeout_tests..
fixed example: non-ros_service_server.py to use only 1 socket; commented and structured code and comments in test-scripts
some minor changes: comments, debug-output, ..
added test script for non-ros_service_client calling service from non-ros_service_server
added msg and srv files
fixed (removed) dependency to beginner_tutorials for service_server test-scripts. beginner_tutorials package not needed anymore.
behaviour on advertising existing service: replace service-provider, similar to ROS-groovy behaviour, see issues..
behaviour on advertising existing service: replace service-provider, similar to ROS-groovy behaviour, see issues..
removed obsolete test-scripts
stop service added
first working classes: service_server
should use its own branch: service_server.py; add initial thoughts and code-base for developing ServiceServer capability
fixed errors in protocol.py and defragmentation.py
added test-scripts for defragmentation AND tcp-server
change json imports to try to use ujson or simplejson
change json imports to try to use ujson or simplejson; correct log_message to show length of content/data instead of overall length
fixed variable name in finish()
Clean up of defragmentation.py.
add defragmentation capability
merge with fuerte-devel
add defragmentation capability
commented out that problematic unregister line
Contributors: Brandon Alexander, Jihoon Lee, Julian Cerruti, Kaijen Hsiao, Stefan Profanter, dave, furushchev, fxm-db, ipa-fxm, root, unknown
0.5.1 (2013-10-31)
Implement multiple subscriptions to latched topics (fixes #1).
generate more natural json for service call result
add result field to service response
Contributors: Siegfried-A. Gevatter Pujals, Takashi Ogura
0.5.0 (2013-07-17)
0.5.0 preparation for hydro release
even more missing depends for unit tests
more missing test packages
missing depends added when running tests
rostest now uses devel instead of install
rostest added to package
Contributors: Jihoon Lee, Russell Toris
0.4.4 (2013-04-08)
0.4.3 (2013-04-03 08:24)
0.4.2 (2013-04-03 08:12)
eclipse projects removed
Contributors: Russell Toris
0.4.1 (2013-03-07)
adding message generation build dependency
Contributors: Jihoon Lee
0.4.0 (2013-03-05)
removing rostest
Commenting out rostest
Update rosbridge_library/package.xml removed <test_depend>rospy</test_depend>
Fixes “‘int’ is not iterable” bug.
Adds test_all.test launch file.
Error fix from wrong package name.
Moves test package tests into rosbridge_library. I learned about NOINSTALL for msg and srv generation in CMakeList.
Resolves submodule issues.
Uses only 1 .gitignore to avoid confusion.
Merge pull request #15 from baalexander/remove_unregister Removes buggy unregister call.
Removes buggy unregister call. Fixes Issue #12.
Adds BSD license header to code files. See Issue #13.
Removing ultrajson from rosbridge. If JSON parsing becomes a performance bottle neck, we can re-add it.
Catkinizing rosbridge_library and server.
PNG compression now creates a square RGB image padded with new-line characters
Add stack dependencies and rosdeps.
Collapse directory structure.
Moved the packages inside a folder called rosbridge
Initial commit of rosbridge_library
Contributors: Austin Hendrix, Brandon Alexander, David Gossow, Jihoon Lee, Jonathan Mace, Russell Toris