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Document NaN support in interfaces and NaN usage in CLI #4210

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Document NaN support in interfaces and NaN usage in CLI #4210

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8e3d27e
Document NaN support in interfaces and NaN usage in CLI
Ryanf55 Mar 5, 2024
527c634
Remove note about YAML support
Ryanf55 Mar 5, 2024
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3 changes: 3 additions & 0 deletions source/Concepts/Basic/About-Interfaces.rst
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Expand Up @@ -183,6 +183,7 @@ Field default value

Default values can be set to any field in the message type.
Currently default values are not supported for string arrays and complex types (i.e. types not present in the built-in-types table above; that applies to all nested messages).
Special floating point values such as ``NaN``, ``+infinity``, and ``-infinity`` are not yet supported as default values.
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just a comment, this does not block the PR.

instead of adding the limitation here temporary, can we update the doc after ros2/rosidl#789?

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Yep, I'm not in a rush to fix the docs, and am happy to revise if we can get a quick review and merge on the ROSIDL PR.


Defining a default value is done by adding a third element to the field definition line, i.e:

Expand Down Expand Up @@ -227,6 +228,8 @@ For example:

Constants names have to be UPPERCASE

Special floating point values such as ``NaN``, ``+infinity``, and ``-infinity`` are not yet supported as constant values.

Services
--------

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7 changes: 7 additions & 0 deletions ...ials/Beginner-CLI-Tools/Understanding-ROS2-Topics/Understanding-ROS2-Topics.rst
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Expand Up @@ -303,6 +303,13 @@ If the message does not use a full header, but just has a field with type ``buil

ros2 topic pub /reference sensor_msgs/msg/TimeReference '{header: "auto", time_ref: "now", source: "dumy"}'

Certain messages use ``NaN`` as a significant value. This is supported in YAML. For example, with a ``sensor_msgs/msg/BatteryState``,
the temperature field may not be measured. If so, it should be set to ``NaN``.
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.. code-block:: console

ros2 topic pub /battery sensor_msgs/msg/BatteryState '{voltage: 12.4, temperature: .nan}'

8 ros2 topic hz
^^^^^^^^^^^^^^^

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