Revert "Revert "Decouple rosout publisher init from node init. (#351)…

rclc/include/rclc/node.h

@@ -22,6 +22,8 @@ extern "C"
 {
 #endif
 #include <rcl/node.h>
+#include <rcl/logging.h>
+#include <rcl/logging_rosout.h>
 #include <rclc/types.h>
 
 #include <rclc/init.h>

rclc/src/rclc/node.c

@@ -79,6 +79,24 @@ rclc_node_init_with_options(
     node_ops);
   if (rc != RCL_RET_OK) {
     PRINT_RCLC_WARN(rclc_node_init_with_options, rcl_node_init);
+    return rc;
   }
+
+  // The initialization for the rosout publisher
+  if (rcl_logging_rosout_enabled() && node_ops->enable_rosout) {
+    rc = rcl_logging_rosout_init_publisher_for_node(node);
+    if (rc != RCL_RET_OK) {
+      PRINT_RCLC_WARN(
+        rclc_node_init_with_options,
+        rcl_logging_rosout_init_publisher_for_node);
+      if (rcl_logging_rosout_fini_publisher_for_node(node) != RCL_RET_OK) {
+        PRINT_RCLC_WARN(
+          rclc_node_init_with_options,
+          rcl_logging_rosout_fini_publisher_for_node);
+      }
+      return rc;
+    }
+  }
+
   return rc;
 }

rclc/test/rclc/test_action_client.cpp

@@ -127,6 +127,10 @@ TEST(Test, rclc_action_client) {
   // clean up
   rc = rclc_action_client_fini(&action_client, &node);
   EXPECT_EQ(RCL_RET_OK, rc);
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rc = rclc_support_fini(&support);
@@ -245,6 +249,10 @@ class ActionClientTest : public ::testing::Test
 
     rc = rclc_action_client_fini(&action_client, &node);
     EXPECT_EQ(RCL_RET_OK, rc);
+    if (rcl_logging_rosout_enabled()) {
+      rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+      EXPECT_EQ(RCL_RET_OK, rc);
+    }
     rc = rcl_node_fini(&node);
     EXPECT_EQ(RCL_RET_OK, rc);
     rc = rclc_support_fini(&support);

rclc/test/rclc/test_action_server.cpp

@@ -140,6 +140,10 @@ TEST(Test, rclc_action_server) {
   // clean up
   rc = rclc_action_server_fini(&action_server, &node);
   EXPECT_EQ(RCL_RET_OK, rc);
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rc = rclc_support_fini(&support);
@@ -222,6 +226,10 @@ class ActionServerTest : public ::testing::Test
 
     rc = rclc_action_server_fini(&action_server, &node);
     EXPECT_EQ(RCL_RET_OK, rc);
+    if (rcl_logging_rosout_enabled()) {
+      rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+      EXPECT_EQ(RCL_RET_OK, rc);
+    }
     rc = rcl_node_fini(&node);
     EXPECT_EQ(RCL_RET_OK, rc);
     rc = rclc_support_fini(&support);

rclc/test/rclc/test_client.cpp

@@ -70,6 +70,10 @@ TEST(Test, rclc_client_init_default) {
   // clean up
   rc = rcl_client_fini(&client, &node);
   EXPECT_EQ(RCL_RET_OK, rc);
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rc = rclc_support_fini(&support);
@@ -133,6 +137,10 @@ TEST(Test, rclc_client_init_best_effort) {
   // clean up
   rc = rcl_client_fini(&client, &node);
   EXPECT_EQ(RCL_RET_OK, rc);
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rc = rclc_support_fini(&support);
@@ -200,6 +208,10 @@ TEST(Test, rclc_client_init_qos) {
   // clean up
   rc = rcl_client_fini(&client, &node);
   EXPECT_EQ(RCL_RET_OK, rc);
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rc = rclc_support_fini(&support);

rclc/test/rclc/test_executor.cpp

@@ -22,6 +22,7 @@
 #include <vector>
 
 #include "rclc/executor.h"
+#include "rclc/node.h"
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcutils/time.h"
 
@@ -545,6 +546,10 @@ class TestDefaultExecutor : public ::testing::Test
     rcl_node_options_t node_options = rcl_node_get_default_options();
     ret = rcl_node_init(&this->node, name, "", &this->context, &node_options);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    if (rcl_logging_rosout_enabled() && node_options.enable_rosout) {
+      ret = rcl_logging_rosout_init_publisher_for_node(&this->node);
+      ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    }
     const rcl_node_options_t * node_ops = rcl_node_get_options(&this->node);
     this->allocator_ptr = &node_ops->allocator;
 
@@ -591,6 +596,14 @@ class TestDefaultExecutor : public ::testing::Test
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
     ret = rcl_clock_fini(&this->clock);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    if (rcl_logging_rosout_enabled()) {
+      ret = rcl_logging_rosout_fini_publisher_for_node(&this->node);
+      EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    }
+    if (rcl_logging_rosout_enabled()) {
+      ret = rcl_logging_rosout_fini_publisher_for_node(&this->node);
+      EXPECT_EQ(RCL_RET_OK, ret);
+    }
     ret = rcl_node_fini(&this->node);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
     ret = rcl_shutdown(&this->context);

rclc/test/rclc/test_node.cpp

@@ -38,6 +38,10 @@ TEST(Test, rclc_node_init_default) {
   rcutils_reset_error();
 
   // test case: null pointer for name
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
 
@@ -56,6 +60,10 @@ TEST(Test, rclc_node_init_default) {
   rcutils_reset_error();
 
   // clean up
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rcutils_reset_error();
@@ -106,6 +114,10 @@ TEST(Test, rclc_node_init_with_options) {
   EXPECT_EQ(RCL_RET_OK, rc);
 
   // clean up
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rcutils_reset_error();

rclc/test/rclc/test_publisher.cpp

@@ -54,6 +54,10 @@ TEST(Test, rclc_publisher_init_default) {
   // clean up
   rc = rcl_publisher_fini(&publisher, &node);
   EXPECT_EQ(RCL_RET_OK, rc);
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rc = rclc_support_fini(&support);
@@ -99,6 +103,10 @@ TEST(Test, rclc_publisher_init_best_effort) {
   // clean up
   rc = rcl_publisher_fini(&publisher, &node);
   EXPECT_EQ(RCL_RET_OK, rc);
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rc = rclc_support_fini(&support);
@@ -149,6 +157,10 @@ TEST(Test, rclc_publisher_init_qos) {
   // clean up
   rc = rcl_publisher_fini(&publisher, &node);
   EXPECT_EQ(RCL_RET_OK, rc);
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rc = rclc_support_fini(&support);

rclc/test/rclc/test_service.cpp

@@ -63,6 +63,10 @@ TEST(Test, rclc_service_init_default) {
   // clean up
   rc = rcl_service_fini(&service, &node);
   EXPECT_EQ(RCL_RET_OK, rc);
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rc = rclc_support_fini(&support);
@@ -119,6 +123,10 @@ TEST(Test, rclc_service_init_best_effort) {
   // clean up
   rc = rcl_service_fini(&service, &node);
   EXPECT_EQ(RCL_RET_OK, rc);
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rc = rclc_support_fini(&support);
@@ -178,6 +186,10 @@ TEST(Test, rclc_service_init_qos) {
   // clean up
   rc = rcl_service_fini(&service, &node);
   EXPECT_EQ(RCL_RET_OK, rc);
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rc = rclc_support_fini(&support);

rclc/test/rclc/test_subscription.cpp

@@ -53,6 +53,10 @@ TEST(Test, rclc_subscription_init_default) {
   // clean up
   rc = rcl_subscription_fini(&subscription, &node);
   EXPECT_EQ(RCL_RET_OK, rc);
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rc = rclc_support_fini(&support);
@@ -98,6 +102,10 @@ TEST(Test, rclc_subscription_init_best_effort) {
   // clean up
   rc = rcl_subscription_fini(&subscription, &node);
   EXPECT_EQ(RCL_RET_OK, rc);
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rc = rclc_support_fini(&support);
@@ -146,6 +154,10 @@ TEST(Test, rclc_subscription_init_qos) {
   // clean up
   rc = rcl_subscription_fini(&subscription, &node);
   EXPECT_EQ(RCL_RET_OK, rc);
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rc = rclc_support_fini(&support);

rclc/test/rclc/test_timer.cpp

@@ -52,6 +52,10 @@ TEST(Test, rclc_timer_init_default2) {
   // clean up
   rc = rcl_timer_fini(&timer);
   EXPECT_EQ(RCL_RET_OK, rc);
+  if (rcl_logging_rosout_enabled()) {
+    rc = rcl_logging_rosout_fini_publisher_for_node(&node);
+    EXPECT_EQ(RCL_RET_OK, rc);
+  }
   rc = rcl_node_fini(&node);
   EXPECT_EQ(RCL_RET_OK, rc);
   rc = rclc_support_fini(&support);

rclc_examples/src/example_action_client.c

@@ -207,6 +207,7 @@ int main()
 
   // clean up
   rclc_executor_fini(&executor);
+  (void)!rcl_logging_rosout_fini_publisher_for_node(&node);
   (void)!rcl_node_fini(&node);
 
   return 0;

rclc_examples/src/example_action_server.c

@@ -166,6 +166,7 @@ int main()
 
   // clean up
   rclc_executor_fini(&executor);
+  (void)!rcl_logging_rosout_fini_publisher_for_node(&node);
   (void)!rcl_node_fini(&node);
 
   return 0;

rclc_examples/src/example_client_node.c

@@ -84,5 +84,6 @@ int main(int argc, const char * const * argv)
   rclc_executor_spin(&executor);
 
   RCCHECK(rcl_client_fini(&client, &node));
+  RCCHECK(rcl_logging_rosout_fini_publisher_for_node(&node));
   RCCHECK(rcl_node_fini(&node));
 }

rclc_examples/src/example_executor.c

@@ -169,6 +169,7 @@ int main(int argc, const char * argv[])
   rc += rcl_publisher_fini(&my_pub, &my_node);
   rc += rcl_timer_fini(&my_timer);
   rc += rcl_subscription_fini(&my_sub, &my_node);
+  rc += rcl_logging_rosout_fini_publisher_for_node(&my_node);
   rc += rcl_node_fini(&my_node);
   rc += rclc_support_fini(&support);
 

rclc_examples/src/example_executor_only_rcl.c

@@ -16,6 +16,7 @@
 #include <stdio.h>
 
 #include <rclc/executor.h>
+#include <rclc/rclc.h>
 #include <std_msgs/msg/string.h>
 
 // these data structures for the publisher and subscriber are global, so that
@@ -83,6 +84,13 @@ int main(int argc, const char * argv[])
     printf("Error in rcl_node_init\n");
     return -1;
   }
+  if (rcl_logging_rosout_enabled() && node_ops.enable_rosout) {
+    rc = rcl_logging_rosout_init_publisher_for_node(&my_node);
+    if (rc != RCL_RET_OK) {
+      printf("Error in rcl_logging_rosout_init_publisher_for_node\n");
+      return -1;
+    }
+  }
 
   // create a publisher to publish topic 'topic_0' with type std_msg::msg::String
   // my_pub is global, so that the timer callback can access this publisher.
@@ -196,6 +204,9 @@ int main(int argc, const char * argv[])
   rc += rcl_publisher_fini(&my_pub, &my_node);
   rc += rcl_timer_fini(&my_timer);
   rc += rcl_subscription_fini(&my_sub, &my_node);
+  if (rcl_logging_rosout_enabled()) {
+    rc += rcl_logging_rosout_fini_publisher_for_node(&my_node);
+  }
   rc += rcl_node_fini(&my_node);
   rc += rcl_init_options_fini(&init_options);
   std_msgs__msg__String__fini(&pub_msg);

rclc_examples/src/example_executor_trigger.c

@@ -392,6 +392,7 @@ int main(int argc, const char * argv[])
   rc += rcl_timer_fini(&my_int_timer);
   rc += rcl_subscription_fini(&my_string_sub, &my_node);
   rc += rcl_subscription_fini(&my_int_sub, &my_node);
+  rc += rcl_logging_rosout_fini_publisher_for_node(&my_node);
   rc += rcl_node_fini(&my_node);
   rc += rclc_support_fini(&support);
 

rclc_examples/src/example_lifecycle_node.c

@@ -132,6 +132,7 @@ int main(int argc, const char * argv[])
   // Cleanup
   printf("cleaning up...\n");
   rc = rclc_lifecycle_node_fini(&lifecycle_node, &allocator);
+  rc += rcl_logging_rosout_fini_publisher_for_node(&my_node);
   rc += rcl_node_fini(&my_node);
   rc += rclc_executor_fini(&executor);
   rc += rclc_support_fini(&support);

rclc_examples/src/example_parameter_server.c

@@ -144,6 +144,7 @@ int main()
   // clean up
   rc = rclc_executor_fini(&executor);
   rc += rclc_parameter_server_fini(&param_server, &node);
+  rc += rcl_logging_rosout_fini_publisher_for_node(&node);
   rc += rcl_node_fini(&node);
 
   if (rc != RCL_RET_OK) {

rclc_examples/src/example_pingpong.cpp

@@ -348,6 +348,8 @@ int main(int argc, const char * argv[])
     rc += rcl_timer_fini(&pong_timer);
     rc += rcl_subscription_fini(&pong_subscription, &ping_node);
     rc += rcl_subscription_fini(&ping_subscription, &pong_node);
+    rc += rcl_logging_rosout_fini_publisher_for_node(&ping_node);
+    rc += rcl_logging_rosout_fini_publisher_for_node(&pong_node);
     rc += rcl_node_fini(&ping_node);
     rc += rcl_node_fini(&pong_node);
     rc += rclc_support_fini(&support);
@@ -439,6 +441,8 @@ int main(int argc, const char * argv[])
     rc += rcl_timer_fini(&pong_timer);
     rc += rcl_subscription_fini(&pong_subscription, &ping_node);
     rc += rcl_subscription_fini(&ping_subscription, &pong_node);
+    rc += rcl_logging_rosout_fini_publisher_for_node(&ping_node);
+    rc += rcl_logging_rosout_fini_publisher_for_node(&pong_node);
     rc += rcl_node_fini(&ping_node);
     rc += rcl_node_fini(&pong_node);
     rc += rclc_support_fini(&support);
@@ -456,4 +460,4 @@ int main(int argc, const char * argv[])
   }
 
   return 0;
-}
+}