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Bump main to gz-transport 15.0.0~pre1 #549

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Oct 16, 2024
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Bump main to gz-transport 15.0.0~pre1 #549

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3deca35
Bump main to gz-transport 15.0.0~pre1
caguero Oct 9, 2024
861b397
Use main in tutorials
caguero Oct 9, 2024
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4 changes: 2 additions & 2 deletions CMakeLists.txt
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Expand Up @@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
#============================================================================
# Initialize the project
#============================================================================
project(gz-transport14 VERSION 14.0.0)
project(gz-transport15 VERSION 15.0.0)

#============================================================================
# Find gz-cmake
Expand Down Expand Up @@ -33,7 +33,7 @@ cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

gz_configure_project(VERSION_SUFFIX)
gz_configure_project(VERSION_SUFFIX pre1)

#============================================================================
# Set project-specific options
Expand Down
4 changes: 4 additions & 0 deletions Changelog.md
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@@ -1,3 +1,7 @@
## Gazebo Transport 15.X

### Gazebo Transport 15.0.0 (20XX-XX-XX)

## Gazebo Transport 14.X

### Gazebo Transport 14.0.0 (2024-09-25)
Expand Down
4 changes: 2 additions & 2 deletions example/CMakeLists.txt
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Expand Up @@ -3,8 +3,8 @@ cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
project(gz-transport-examples)

# Find the Gazebo Transport library
find_package(gz-transport14 QUIET REQUIRED OPTIONAL_COMPONENTS log)
set(GZ_TRANSPORT_VER ${gz-transport14_VERSION_MAJOR})
find_package(gz-transport15 QUIET REQUIRED OPTIONAL_COMPONENTS log)
set(GZ_TRANSPORT_VER ${gz-transport15_VERSION_MAJOR})

if (EXISTS "${CMAKE_SOURCE_DIR}/msgs/")
# Message generation. Only required when using custom Protobuf messages.
Expand Down
4 changes: 2 additions & 2 deletions package.xml
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@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="2">
<name>gz-transport14</name>
<version>14.0.0</version>
<name>gz-transport15</name>
<version>15.0.0</version>
<description>Gazebo Transport: Provides fast and efficient asynchronous message passing, services, and data logging.</description>
<maintainer email="[email protected]">Carlos Agüero</maintainer>
<license>Apache License 2.0</license>
Expand Down
2 changes: 1 addition & 1 deletion python/examples/data_race_with_mutex.py
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Expand Up @@ -14,7 +14,7 @@
#

from gz.msgs11.vector3d_pb2 import Vector3d
from gz.transport14 import Node
from gz.transport15 import Node

from threading import Lock
import time
Expand Down
2 changes: 1 addition & 1 deletion python/examples/data_race_without_mutex.py
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Expand Up @@ -14,7 +14,7 @@
#

from gz.msgs11.vector3d_pb2 import Vector3d
from gz.transport14 import Node
from gz.transport15 import Node

import time

Expand Down
2 changes: 1 addition & 1 deletion python/examples/publisher.py
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Expand Up @@ -16,7 +16,7 @@
#! [complete]
from gz.msgs11.stringmsg_pb2 import StringMsg
from gz.msgs11.vector3d_pb2 import Vector3d
from gz.transport14 import Node
from gz.transport15 import Node

import time

Expand Down
2 changes: 1 addition & 1 deletion python/examples/requester.py
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Expand Up @@ -15,7 +15,7 @@

#! [complete]
from gz.msgs11.stringmsg_pb2 import StringMsg
from gz.transport14 import Node
from gz.transport15 import Node

def main():
node = Node()
Expand Down
2 changes: 1 addition & 1 deletion python/examples/subscriber.py
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Expand Up @@ -16,7 +16,7 @@
#! [complete]
from gz.msgs11.stringmsg_pb2 import StringMsg
from gz.msgs11.vector3d_pb2 import Vector3d
from gz.transport14 import Node
from gz.transport15 import Node

import time

Expand Down
2 changes: 1 addition & 1 deletion python/src/transport/_gz_transport_pybind11.cc
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Expand Up @@ -323,7 +323,7 @@ PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
.def("has_connections",
&gz::transport::Node::Publisher::HasConnections,
"Return true if this publisher has subscribers");
} // gz-transport14 module
} // gz-transport15 module

} // python
} // transport
Expand Down
2 changes: 1 addition & 1 deletion python/test/options_TEST.py
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@@ -1,5 +1,5 @@
from gz.msgs11.stringmsg_pb2 import StringMsg
from gz.transport14 import Node, AdvertiseMessageOptions, SubscribeOptions, NodeOptions
from gz.transport15 import Node, AdvertiseMessageOptions, SubscribeOptions, NodeOptions

import unittest

Expand Down
2 changes: 1 addition & 1 deletion python/test/pubSub_TEST.py
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Expand Up @@ -15,7 +15,7 @@

from gz.msgs11.stringmsg_pb2 import StringMsg
from gz.msgs11.vector3d_pb2 import Vector3d
from gz.transport14 import Node, AdvertiseMessageOptions, SubscribeOptions, TopicStatistics
from gz.transport15 import Node, AdvertiseMessageOptions, SubscribeOptions, TopicStatistics

from threading import Lock

Expand Down
2 changes: 1 addition & 1 deletion python/test/requester_TEST.py
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Expand Up @@ -15,7 +15,7 @@

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

import os
import subprocess
Expand Down
18 changes: 9 additions & 9 deletions tutorials/04_messages.md
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Expand Up @@ -17,7 +17,7 @@ cd ~/gz_transport_tutorial

## Publisher

Download the [publisher.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/publisher.cc) file within the `gz_transport_tutorial`
Download the [publisher.cc](https://github.com/gazebosim/gz-transport/raw/main/example/publisher.cc) file within the `gz_transport_tutorial`
folder and open it with your favorite editor:

\snippet example/publisher.cc complete
Expand Down Expand Up @@ -76,7 +76,7 @@ The method *Publish()* sends a message to all the subscribers.

## Subscriber

Download the [subscriber.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/subscriber.cc)
Download the [subscriber.cc](https://github.com/gazebosim/gz-transport/raw/main/example/subscriber.cc)
file into the `gz_transport_tutorial` folder and open it with your favorite editor:

\snippet example/subscriber.cc complete
Expand Down Expand Up @@ -126,7 +126,7 @@ until you hit *CTRL-C*. Note that this function captures the *SIGINT* and

## Building the code

Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/CMakeLists.txt) file within the `gz_transport_tutorial` folder.
Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/main/example/CMakeLists.txt) file within the `gz_transport_tutorial` folder.

Once you have all your files, go ahead and create a `build/` directory within
the `gz_transport_tutorial` directory.
Expand Down Expand Up @@ -287,7 +287,7 @@ between Gazebo Transport and another protocol or if you want to just print the
content of a generic protobuf message using `DebugString()`, among other use
cases.

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:
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:

```{.cpp}
#include <google/protobuf/message.h>
Expand Down Expand Up @@ -416,12 +416,12 @@ often the integration of the message generation into the build system of your
project. Next, you can find an example of a publisher and subscriber using a
custom Protobuf message integrated with CMake.

Download the [publisher_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/publisher_custom_msg.cc)
and the [subscriber_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/subscriber_custom_msg.cc)
Download the [publisher_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/main/example/publisher_custom_msg.cc)
and the [subscriber_custom_msg.cc](https://github.com/gazebosim/gz-transport/raw/main/example/subscriber_custom_msg.cc)
files within the `gz_transport_tutorial`. Then, create a `msgs` folder and
download the [stringmsg.proto](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/msgs/stringmsg.proto)
and the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/msgs/CMakeLists.txt)
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)
download the [stringmsg.proto](https://github.com/gazebosim/gz-transport/raw/main/example/msgs/stringmsg.proto)
and the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/main/example/msgs/CMakeLists.txt)
files within the `msgs` folder. Finally, we'll need the main [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/main/example/CMakeLists.txt)
file. You should have this file from the previous examples. Otherwise,
download and place it within the `gz_transport_tutorial` folder.

Expand Down
20 changes: 10 additions & 10 deletions tutorials/05_services.md
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Expand Up @@ -25,7 +25,7 @@ cd ~/gz_transport_tutorial

## Responser

Download the [responser.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/responser.cc) file within the ``gz_transport_tutorial``
Download the [responser.cc](https://github.com/gazebosim/gz-transport/raw/main/example/responser.cc) file within the ``gz_transport_tutorial``
folder and open it with your favorite editor:

```{.cpp}
Expand Down Expand Up @@ -133,7 +133,7 @@ until you hit *CTRL-C*. Note that this function captures the *SIGINT* and

## Synchronous requester

Download the [requester.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/requester.cc) file within the ``gz_transport_tutorial``
Download the [requester.cc](https://github.com/gazebosim/gz-transport/raw/main/example/requester.cc) file within the ``gz_transport_tutorial``
folder and open it with your favorite editor:

```{.cpp}
Expand Down Expand Up @@ -228,7 +228,7 @@ message.

## Asynchronous requester

Download the [requester_async.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/requester_async.cc) file within the
Download the [requester_async.cc](https://github.com/gazebosim/gz-transport/raw/main/example/requester_async.cc) file within the
``gz_transport_tutorial`` folder and open it with your favorite editor:

```{.cpp}
Expand Down Expand Up @@ -314,7 +314,7 @@ oneway service to process service requests without sending back responses.
Oneway services don't accept any output parameters nor the requests have to wait
for the response.

Download the [responser_oneway.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/responser_oneway.cc) file within the
Download the [responser_oneway.cc](https://github.com/gazebosim/gz-transport/raw/main/example/responser_oneway.cc) file within the
``gz_transport_tutorial`` folder and open it with your favorite editor:

```{.cpp}
Expand Down Expand Up @@ -389,7 +389,7 @@ This case is similar to the oneway service provider. This code can be used for
requesting a service that does not need a response back. We don't need any
output parameters in this case nor we have to wait for the response.

Download the [requester_oneway.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/requester_oneway.cc) file within the
Download the [requester_oneway.cc](https://github.com/gazebosim/gz-transport/raw/main/example/requester_oneway.cc) file within the
``gz_transport_tutorial`` folder and open it with your favorite editor:

```{.cpp}
Expand Down Expand Up @@ -454,7 +454,7 @@ request was already published.
Sometimes we want to receive some result but don't have any input parameter to
send.

Download the [responser_no_input.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/responser_no_input.cc)
Download the [responser_no_input.cc](https://github.com/gazebosim/gz-transport/raw/main/example/responser_no_input.cc)
file within the ``gz_transport_tutorial`` folder and open it with your
favorite editor:

Expand Down Expand Up @@ -534,7 +534,7 @@ service requests.
This case is similar to the service without input parameter. We don't send any
request.

Download the [requester_no_input.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/requester_no_input.cc)
Download the [requester_no_input.cc](https://github.com/gazebosim/gz-transport/raw/main/example/requester_no_input.cc)
file within the ``gz_transport_tutorial`` folder and open it with your
favorite editor:

Expand Down Expand Up @@ -577,14 +577,14 @@ request timed out or reached the service provider and ``result`` shows if the
service was successfully executed.

We also have the async version for service request without input. You should
download [requester_async_no_input.cc](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/requester_async_no_input.cc)
download [requester_async_no_input.cc](https://github.com/gazebosim/gz-transport/raw/main/example/requester_async_no_input.cc)
file within the ``gz_transport_tutorial`` folder.

## Building the code

Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/gz-transport14/example/CMakeLists.txt) file
Download the [CMakeLists.txt](https://github.com/gazebosim/gz-transport/raw/main/example/CMakeLists.txt) file
within the ``gz_transport_tutorial`` folder. Then, create a `msgs` directory
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
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
``msgs`` directory.

Once you have all your files, go ahead and create a ``build/`` folder within
Expand Down
32 changes: 16 additions & 16 deletions tutorials/06_python_support.md
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Expand Up @@ -9,7 +9,7 @@ In this tutorial, we are going to show the functionalities implemented in Python
These features are brought up by creating bindings from the C++ implementation
using pybind11. It is important to note that not all of C++ features are available
yet, on this tutorial we will go over the most relevant features. For more information,
refer to the [__init__.py](https://github.com/gazebosim/gz-transport/blob/gz-transport14/python/src/__init__.py)
refer to the [__init__.py](https://github.com/gazebosim/gz-transport/blob/main/python/src/__init__.py)
file which is a wrapper for all the bindings.

For this tutorial, we will create two nodes that communicate via messages. One node
Expand All @@ -24,7 +24,7 @@ cd ~/gz_transport_tutorial

## Publisher

Download the [publisher.py](https://github.com/gazebosim/gz-transport/blob/gz-transport14/python/examples/publisher.py) file within the `gz_transport_tutorial`
Download the [publisher.py](https://github.com/gazebosim/gz-transport/blob/main/python/examples/publisher.py) file within the `gz_transport_tutorial`
folder and open it with your favorite editor:

\snippet python/examples/publisher.py complete
Expand All @@ -34,10 +34,10 @@ folder and open it with your favorite editor:
```{.py}
from gz.msgs11.stringmsg_pb2 import StringMsg
from gz.msgs11.vector3d_pb2 import Vector3d
from gz.transport14 import Node
from gz.transport15 import Node
```

The library `gz.transport14` contains all the Gazebo Transport elements that can be
The library `gz.transport15` contains all the Gazebo Transport elements that can be
used in Python. The final API we will use is contained inside the class `Node`.

The lines `from gz.msgs11.stringmsg_pb2 import StringMsg` and `from gz.msgs11.vector3d_pb2 import Vector3d`
Expand Down Expand Up @@ -89,7 +89,7 @@ each topic. The method *publish()* sends a message to all the subscribers.

## Subscriber

Download the [subscriber.py](https://github.com/gazebosim/gz-transport/blob/gz-transport14/python/examples/subscriber.py)
Download the [subscriber.py](https://github.com/gazebosim/gz-transport/blob/main/python/examples/subscriber.py)
file into the `gz_transport_tutorial` folder and open it with your favorite editor:

\snippet python/examples/subscriber.py complete
Expand All @@ -99,10 +99,10 @@ file into the `gz_transport_tutorial` folder and open it with your favorite edit
```{.py}
from gz.msgs11.stringmsg_pb2 import StringMsg
from gz.msgs11.vector3d_pb2 import Vector3d
from gz.transport14 import Node
from gz.transport15 import Node
```

Just as before, we are importing the `Node` class from the `gz.transport14` library
Just as before, we are importing the `Node` class from the `gz.transport15` library
and the generated code for the `StringMsg` and `Vector3d` protobuf messages.

```{.py}
Expand Down Expand Up @@ -240,9 +240,9 @@ in several places (publisher and subscribers).

We developed a couple of examples that demonstrate this particular issue. Take
a look at a publisher and subscriber (whithin the same node) that have race
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
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
issue is to use the `threading` library, you can see the same example with a mutex
in the [data_race_with_mutex.py](https://github.com/gazebosim/gz-transport/blob/gz-transport14/python/examples/data_race_with_mutex.py) file.
in the [data_race_with_mutex.py](https://github.com/gazebosim/gz-transport/blob/main/python/examples/data_race_with_mutex.py) file.

You can run any of those examples by just doing the following in a terminal:
```{.sh}
Expand All @@ -266,7 +266,7 @@ We can declare the throttling option using the following code :

```{.py}
from gz.msgs11.stringmsg_pb2 import StringMsg
from gz.transport14 import Node, AdvertiseMessageOptions
from gz.transport15 import Node, AdvertiseMessageOptions

# Create a transport node and advertise a topic with throttling enabled.
node = Node()
Expand Down Expand Up @@ -310,7 +310,7 @@ We can declare the throttling option using the following code :

```{.py}
from gz.msgs11.stringmsg_pb2 import StringMsg
from gz.transport14 import Node, SubscribeOptions
from gz.transport15 import Node, SubscribeOptions

def stringmsg_cb(msg: StringMsg):
print("Received StringMsg: [{}]".format(msg.data))
Expand Down Expand Up @@ -350,7 +350,7 @@ topic without having to modify the publisher and create a new log.
We can declare the topic remapping option using the following code:

```{.py}
from gz.transport14 import Node, NodeOptions
from gz.transport15 import Node, NodeOptions

# Create a transport node and remap a topic.
nodeOpts = NodeOptions()
Expand Down Expand Up @@ -380,7 +380,7 @@ The command `gz log playback` also supports the notion of topic remapping. Run

## Service Requester

Download the [requester.py](https://github.com/gazebosim/gz-transport/blob/gz-transport14/python/examples/requester.py)
Download the [requester.py](https://github.com/gazebosim/gz-transport/blob/main/python/examples/requester.py)
file into the `gz_transport_tutorial` folder and open it with your favorite editor:

\snippet python/examples/requester.py complete
Expand All @@ -389,10 +389,10 @@ file into the `gz_transport_tutorial` folder and open it with your favorite edit

```{.py}
from gz.msgs11.stringmsg_pb2 import StringMsg
from gz.transport14 import Node
from gz.transport15 import Node
```

Just as before, we are importing the `Node` class from the `gz.transport14`
Just as before, we are importing the `Node` class from the `gz.transport15`
library and the generated code for the `StringMsg` protobuf message.

```{.py}
Expand Down Expand Up @@ -421,7 +421,7 @@ result and response of the request in some variables and printing them out.

Unfortunately, this feature is not available on Python at the moment. However,
we can use a service responser created in C++ and make a request to it from a
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.
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.

## Running the examples

Expand Down
6 changes: 3 additions & 3 deletions tutorials/08_relay.md
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Expand Up @@ -25,11 +25,11 @@ install Docker following any of the existing guides available
([here](https://docs.docker.com/get-docker/)'s one).

We're going to build a Docker image and run it inside your host computer.
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
[Dockerfile](https://github.com/gazebosim/gz-transport/raw/gz-transport14/docker/gz-transport/Dockerfile) files.
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
[Dockerfile](https://github.com/gazebosim/gz-transport/raw/main/docker/gz-transport/Dockerfile) files.

```{.sh}
wget https://github.com/gazebosim/gz-transport/raw/gz-transport14/docker/gz-transport/Dockerfile -O Dockerfile
wget https://github.com/gazebosim/gz-transport/raw/main/docker/gz-transport/Dockerfile -O Dockerfile
```

Now, it's time to build the Docker image:
Expand Down
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