Enable get_type_description service by default

Signed-off-by: Hans-Joachim Krauch <achim.krauch@gmail.com>
achim-k · Jun 12, 2023 · 61ca3dc · 61ca3dc
1 parent ad8aa93
commit 61ca3dc
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Showing 4 changed files with 5 additions and 8 deletions.
diff --git a/rcl/include/rcl/node_options.h b/rcl/include/rcl/node_options.h
@@ -55,7 +55,7 @@ typedef struct rcl_node_options_s
   /// Middleware quality of service settings for /rosout.
   rmw_qos_profile_t rosout_qos;
 
-  /// Register the ~/get_type_description service. Defaults to false.
+  /// Register the ~/get_type_description service. Defaults to true.
   bool enable_type_description_service;
 } rcl_node_options_t;
 

diff --git a/rcl/src/rcl/node.c b/rcl/src/rcl/node.c
@@ -306,12 +306,6 @@ rcl_node_init(
       goto fail;
     }
   }
-  if (node->impl->options.enable_type_description_service) {
-    RCUTILS_LOG_WARN_NAMED(
-      ROS_PACKAGE_NAME,
-      "Requested ~/get_type_description service enabled, but feature is not yet implemented. "
-      "Service is not created.");
-  }
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Node initialized");
   ret = RCL_RET_OK;
   TRACETOOLS_TRACEPOINT(

diff --git a/rcl/src/rcl/node_options.c b/rcl/src/rcl/node_options.c
@@ -36,7 +36,7 @@ rcl_node_get_default_options()
     .arguments = rcl_get_zero_initialized_arguments(),
     .enable_rosout = true,
     .rosout_qos = rcl_qos_profile_rosout_default,
-    .enable_type_description_service = false,
+    .enable_type_description_service = true,
   };
   return default_options;
 }

diff --git a/rcl/test/rcl/test_graph.cpp b/rcl/test/rcl/test_graph.cpp
@@ -84,6 +84,7 @@ class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
     *this->old_node_ptr = rcl_get_zero_initialized_node();
     const char * old_name = "old_node_name";
     rcl_node_options_t node_options = rcl_node_get_default_options();
+    node_options.enable_type_description_service = false;
     ret = rcl_node_init(this->old_node_ptr, old_name, "", this->old_context_ptr, &node_options);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
     ret = rcl_shutdown(this->old_context_ptr);  // after this, the old_node_ptr should be invalid
@@ -939,6 +940,7 @@ class NodeGraphMultiNodeFixture : public CLASSNAME(TestGraphFixture, RMW_IMPLEME
     remote_node_ptr = new rcl_node_t;
     *remote_node_ptr = rcl_get_zero_initialized_node();
     rcl_node_options_t node_options = rcl_node_get_default_options();
+    node_options.enable_type_description_service = false;
 
     this->remote_context_ptr = new rcl_context_t;
     *this->remote_context_ptr = rcl_get_zero_initialized_context();
@@ -1414,6 +1416,7 @@ TEST_F(CLASSNAME(TestGraphFixture, RMW_IMPLEMENTATION), test_graph_guard_conditi
   // Graph change since adding new node
   rcl_node_t node_new = rcl_get_zero_initialized_node();
   rcl_node_options_t node_options = rcl_node_get_default_options();
+  node_options.enable_type_description_service = false;
   ret = rcl_node_init(&node_new, "test_graph2", "", context_ptr, &node_options);
   ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;