Refactor RMW to use DDS API [10557] #3

jparisu · 2021-02-10T16:23:49Z

It requires Fast DDS PRs to be merged to pass tests successfully:

Depends on

Loans are not implemented.

jparisu · 2021-02-15T06:20:03Z

Comment for reviewers.
Most of the files changed have only minimal changes to fit with the new implementation, while just a few files have the mayor changes and new designs.
In redmine task are commented those files that requires more attention when reviewing.

JLBuenoLopez · 2021-02-16T10:54:42Z

Please, do not forget to open also a related PR in demo_nodes_cpp_native package. It uses rmw_fastrtps_cpp API that has changed its return types:

rmw_fastrtps_cpp::get_participant() does not return a pointer to eprosima::fastrtps::Participant anymore.
rmw_fastrtps_cpp::get_publisher() does not return a pointer to eprosima::fastrtps::Publisher anymore.

jparisu · 2021-02-16T14:58:25Z

ROS2 foxy will fail in some test cases using the command colcon test.
These are the failed tests:

build/ros2action/pytest.xml: 7 tests, 0 errors, 1 failure, 0 skipped
build/ros2doctor/pytest.xml: 6 tests, 0 errors, 1 failure, 0 skipped
build/ros2node/pytest.xml: 8 tests, 0 errors, 1 failure, 0 skipped
build/ros2service/pytest.xml: 5 tests, 0 errors, 1 failure, 0 skipped
build/ros2topic/pytest.xml: 8 tests, 0 errors, 1 failure, 0 skipped
build/rosbag2_tests/Testing/20210216-1439/Test.xml: 10 tests, 0 errors, 1 failure, 0 skipped
build/rosbag2_tests/test_results/rosbag2_tests/test_rosbag2_record_end_to_end.gtest.xml: 12 tests, 0 errors, 1 failure, 0 skipped
build/rosbag2_transport/Testing/20210216-1435/Test.xml: 40 tests, 0 errors, 3 failures, 0 skipped
build/rosbag2_transport/test_results/rosbag2_transport/test_record__rmw_cyclonedds_cpp.gtest.xml: 1 test, 1 error, 0 failures, 0 skipped
build/rosbag2_transport/test_results/rosbag2_transport/test_record__rmw_fastrtps_dynamic_cpp.gtest.xml: 1 test, 1 error, 0 failures, 0 skipped
build/rosbag2_transport/test_results/rosbag2_transport/test_record_all__rmw_fastrtps_dynamic_cpp.gtest.xml: 1 test, 1 error, 0 failures, 0 skipped
build/sros2/pytest.xml: 28 tests, 0 errors, 1 failure, 0 skipped
build/test_rclcpp/Testing/20210216-1436/Test.xml: 81 tests, 0 errors, 3 failures, 0 skipped
build/test_rclcpp/test_results/test_rclcpp/gtest_multithreaded__rmw_cyclonedds_cpp.gtest.xml: 1 test, 1 error, 0 failures, 0 skipped
build/test_rclcpp/test_results/test_rclcpp/gtest_multithreaded__rmw_fastrtps_dynamic_cpp.gtest.xml: 1 test, 1 error, 0 failures, 0 skipped
build/test_rclcpp/test_results/test_rclcpp/test_node_name__rmw_fastrtps_dynamic_cpp__rmw_fastrtps_cpp.xunit.xml: 2 tests, 0 errors, 1 failure, 0 skipped
build/test_tf2/Testing/20210216-1436/Test.xml: 4 tests, 0 errors, 2 failures, 0 skipped
build/test_tf2/test_results/test_tf2/test_message_filter.gtest.xml: 8 tests, 0 errors, 1 failure, 0 skipped
build/test_tf2/test_results/test_tf2/test_static_publisher.launch.py.xunit.xml: 2 tests, 0 errors, 1 failure, 0 skipped

Summary: 30195 tests, 5 errors, 19 failures, 223 skipped

JLBuenoLopez

Partial review

Please, in file rmw_fastrtps_cpp/src/rmw_compare_gids_equal.cpp remove fastrtps/rtps/common/Guid.h header which is not being used. Also, in rmw_fastrtps_dynamic_cpp/src/rmw_compare_gids_equal.cpp.

This same header file should be updated to fastdds/rtps/common/Guid.h in rmw_fastrtps_shared_cpp/src/create_rmw_gid.cpp.

rmw_fastrtps_cpp/src/get_client.cpp

rmw_fastrtps_shared_cpp/src/publisher.cpp

rmw_fastrtps_shared_cpp/src/custom_subscriber_info.cpp

rmw_fastrtps_shared_cpp/src/custom_publisher_info.cpp

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/TypeSupport.hpp

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp

JLBuenoLopez

Partial review

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp

rmw_fastrtps_shared_cpp/src/rmw_publisher.cpp

rmw_fastrtps_shared_cpp/src/rmw_request.cpp

rmw_fastrtps_shared_cpp/src/rmw_response.cpp

JLBuenoLopez

Partial review

In rmw_fastrtps_shared_cpp/src/rmw_security_logging.cpp there is a mention in one comment to Fast RTPS that I suggest we upgrade to Fast DDS. I would also include the following header files which are being used in this file:

fastdds/rtps/common/Property.h
fastdds/rtps/attributes/PropertyPolicy.h

Finally, this same file also includes a error message using Fast-RTPS which I suggest upgrading to Fast DDS.

File rmw_fastrtps_shared_cpp/src/rmw_wait.cpp includes unused header file fastrtps/subscriber/Subscriber.h. Please, remove it.

rmw_fastrtps_shared_cpp/src/rmw_subscription.cpp

rmw_fastrtps_shared_cpp/src/utils.cpp

JLBuenoLopez

Partial review

rmw_fastrtps_shared_cpp test files (rmw_fastrtps_shared_cpp/test/):

test_dds_attributes_to_rmw_qos.cpp: this test depends on how to proceed with the old QoS functions. A deprecated warning should be add or they can be directly removed if the ROS 2 maintainers agree. Also, these tests should be implemented using the new DDS API.
test_guid_utils.cpp: upgrade Guid.h header file to the one included in the fastdds folder. Also, following the rule to include the header files that are used, please include fastdds/rtps/common/GuidPrefix_t.hpp and fastdds/rtps/common/EntityId_t.hpp

rmw_fastrtps_shared_cpp/src/utils.cpp

rmw_fastrtps_shared_cpp/test/test_logging.cpp

JLBuenoLopez

Partial review:

File rmw_fastrtps_shared_cpp/test/test_security_logging.cpp:

Include Fast DDS header files being used: fastdds/rtps/common/Property.h and fastdds/rtps/attributes/PropertyPolicy.h
Also, modify the Fast-RTPS reference (L269) for Fast DDS. This will ensure that the test keeps passing if the corresponding suggestion in rmw_fastrtps_shared_cpp/src/rmw_security_logging.cpp has been applied.

rmw_fastrtps_shared_cpp/test/test_rmw_qos_to_dds_attributes.cpp

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp

JLBuenoLopez

Partial review:

CustomParticipantInfo
CustomPublisherInfo
CustomSubscriberInfo
rmw_take

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp

rmw_fastrtps_shared_cpp/src/rmw_take.cpp

JLBuenoLopez

Partial review

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_client_info.hpp

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp

rmw_fastrtps_shared_cpp/src/publisher.cpp

JLBuenoLopez

Partial review: rmw_fastrtps_shared_cpp review is finished.

rmw_fastrtps_shared_cpp/src/subscription.cpp

rmw_fastrtps_shared_cpp/src/rmw_client.cpp

rmw_fastrtps_shared_cpp/src/rmw_service.cpp

JLBuenoLopez · 2021-02-24T15:41:01Z

rmw_fastrtps_shared_cpp/src/rmw_service.cpp

+    if (ret != ReturnCode_t::RETCODE_OK) {
+      RMW_SET_ERROR_MSG("Fail in delete datareader");
+      return rmw_fastrtps_shared_cpp::cast_error_dds_to_rmw(ret);


Suggested change

if (ret != ReturnCode_t::RETCODE_OK) {

RMW_SET_ERROR_MSG("Fail in delete datareader");

return rmw_fastrtps_shared_cpp::cast_error_dds_to_rmw(ret);

if (ret != ReturnCode_t::RETCODE_OK && final_ret != RMW_RET_OK) {

RMW_SAFE_FWRITE_TO_STDERR(

RCUTILS_STRINGIFY(__function__) ":" RCUTILS_STRINGIFY(__line__) ": "

"couldn't publish writer disassociation from graph_cache when destroying client");

RMW_SET_ERROR_MSG("Fail in delete datareader");

return rmw_fastrtps_shared_cpp::cast_error_dds_to_rmw(ret);

JLBuenoLopez · 2021-02-24T15:42:01Z

rmw_fastrtps_shared_cpp/src/rmw_service.cpp

+    if (ret != ReturnCode_t::RETCODE_OK) {
+      RMW_SET_ERROR_MSG("Fail in delete datareader");
+      return rmw_fastrtps_shared_cpp::cast_error_dds_to_rmw(ret);


Suggested change

if (ret != ReturnCode_t::RETCODE_OK) {

RMW_SET_ERROR_MSG("Fail in delete datareader");

return rmw_fastrtps_shared_cpp::cast_error_dds_to_rmw(ret);

if (ret != ReturnCode_t::RETCODE_OK && final_ret != RMW_RET_OK) {

RMW_SAFE_FWRITE_TO_STDERR(

RCUTILS_STRINGIFY(__function__) ":" RCUTILS_STRINGIFY(__line__) ": "

"couldn't publish writer disassociation from graph_cache when destroying client");

RMW_SET_ERROR_MSG("Fail in delete datareader");

return rmw_fastrtps_shared_cpp::cast_error_dds_to_rmw(ret);

JLBuenoLopez

We should add a check in the CmakeLists.txt of the three packages (rmw_fastrtps_cpp, rmw_fastrtps_dynamic_cpp and rmw_fastrtps_shared_cpp checking that the Fast DDS version is 2.3 or higher. Without the changes implemented within Fast DDS 2.3.x, this new implementation of the RMW layer will not build.

rmw_fastrtps_cpp/src/publisher.cpp

rmw_fastrtps_dynamic_cpp/src/publisher.cpp

rmw_fastrtps_cpp/src/subscription.cpp

rmw_fastrtps_dynamic_cpp/src/subscription.cpp

rmw_fastrtps_cpp/src/subscription.cpp

JLBuenoLopez

Final review! Enjoy

rmw_fastrtps_cpp/src/rmw_client.cpp

rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp

rmw_fastrtps_cpp/src/rmw_client.cpp

rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp

rmw_fastrtps_cpp/src/rmw_client.cpp

rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp

MiguelCompany

General comments:

Change all sample_info.instance_state == ALIVE_INSTANCE_STATE comparisons into sample_info.valid_data
When creating an entity, try to replicate the old behavior regarding the retrieval of the type-support. Method DomainParticipant::find_type can be used for that. Consider the possibility of changing the type of the type_support_ fields to eprosima::fastdds::dds::TypeSupport
Restore the behavior of deleting the topic and unregistering the type when deleting the endpoints. The return code can be ignored, as it will be either OK or PRECONDITION_NOT_MET if the topic / type is still in use.

Take sequence:

Using vectors will allocate on the heap, so I would try to avoid them. One possible strategy is to use StackAllocatedSequence<T, max_elems> and loop if the requested count is greater than max_elems. As the maximum should be known at compile-time, there is a performance-allocations compromise here. I propose to use a maximum of 32, which is the default value of ReaderResourceLimitsQos::max_samples_per_read

JLBuenoLopez

Mostly typos.

I will finish resolving conversations and checking the tests tomorrow.

rmw_fastrtps_shared_cpp/src/rmw_take.cpp

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_publisher_info.hpp

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp

rmw_fastrtps_cpp/src/rmw_client.cpp

rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp

rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp

rmw_fastrtps_dynamic_cpp/src/subscription.cpp

JLBuenoLopez

Other changes:

First of all, my suggestion of removing rmw_fastrtps_shared_cpp/TypeSupport from custom_service_info.hpp and custom_client_info.hpp breaks the building because in that same header file is defined rmw_fastrtps_shared_cpp::SerializedData.
rmw_fastrtps_shared_cpp/src/participant.cpp: L319-320 there is an error message referring to Fast-RTPS (twice) that should be changed to Fast DDS.
rmw_fastrtps_shared_cpp/src/rmw_client.cpp: if there is an error updating the graph and the function returns before due to failures deleting the DataReader or the DataWriter, this error is lost. It should be logged in these cases.
The previous comment also affects rmw_fastrtps_shared_cpp/src/rmw_service.cpp.
rmw_fastrtps_shared_cpp/test/test_dds_attributes_to_rmw_qos.cpp should also checked QoS using the new DDS templates (besides the RTPS Attributes already checked).
Besides adding the requirement for Fast DDS version being at least 2.3 to the CMake files, I suggest stating this new requirement in the README.
ament_cpplint rmw_fastrtps_dynamic_cpp returns 10 errors
ament_uncrustify rmw_fastrtps_shared_cpp returns 2 files with code style divergence (custom_subscriber_info.hpp and custom_publisher_info.hpp)
ament_uncrustify rmw_fastrtps_dynamic_cpp returns 5 files with code style divergence (subscription.cpp, rmw_service.cpp, rmw_client.cpp, publisher.cpp and test_logging.cpp.

Still analyzing test failures from running locally ROS 2 tests.

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/TypeSupport.hpp

rmw_fastrtps_shared_cpp/src/TypeSupport_impl.cpp

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp

JLBuenoLopez · 2021-03-16T08:13:47Z

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp

+void
+rtps_qos_to_rmw_qos(
+  const DDSQoSPolicyT & dds_qos,
+  rmw_qos_profile_t * qos)
 {
  switch (dds_qos.m_reliability.kind) {
    case eprosima::fastrtps::BEST_EFFORT_RELIABILITY_QOS:


Keeping the fastrtps namespace, I am not sure if we should also include fastrtps/qos/QosPolicies.h file where these constants are defined within this namespace.

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp

rmw_fastrtps_cpp/src/publisher.cpp

rmw_fastrtps_dynamic_cpp/src/subscription.cpp

rmw_fastrtps_dynamic_cpp/src/publisher.cpp

rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp

JLBuenoLopez · 2021-03-16T14:38:52Z

Running locally ROS 2 CI tests I have consistent failures in the following packages and tests:

rcl
- test_publisher__rmw_fastrtps_cpp: TestPublisherFixtureInit__rmw_fastrtps_cpp.test_mock_assert_liveliness
- test_node__rmw_fastrtps_dynamic_cpp: TestNodeFixture__rmw_fastrtps_dynamic_cpp.test_rcl_node_init_with_internal_errors
- test_publisher__rmw_fastrtps_dynamic_cpp: TestPublisherFixtureInit__rmw_fastrtps_dynamic_cpp.test_mock_publish
rcl_action
- test_graph__rmw_fastrtps_cpp: TestActionGraphMultiNodeFixture.action_client_init_maybe_fail
- test_graph__rmw_fastrtps_dynamic_cpp: TestActionGraphMultiNodeFixture.action_client_init_maybe_fail
test_rmw_implementation
- test_create_destroy_node__rmw_fastrtps_dynamic_cpp: TestNodeConstructionDestruction__rmw_fastrtps_dynamic_cpp.create_with_internal_errors

MiguelCompany · 2021-03-16T15:57:36Z

Just in case, before running the tests, I usually remove the contents of the shared memory folder (i.e. /dev/shm on Ubuntu, C:\ProgramData\eprosima\fastrtps_interprocess on Windows)

test_rmw_implementation

test_create_destroy_node__rmw_fastrtps_dynamic_cpp: TestNodeConstructionDestruction__rmw_fastrtps_dynamic_cpp.create_with_internal_errors

Running colcon test --packages-select test_rmw_implementation --ctest-args -LE xfail -R test_create_destroy_node__rmw_fastrtps --repeat-until-fail 100 reported success

rcl

test_node__rmw_fastrtps_dynamic_cpp: TestNodeFixture__rmw_fastrtps_dynamic_cpp.test_rcl_node_init_with_internal_errors

Running colcon test --packages-select rcl --ctest-args -LE xfail -R test_node__rmw_fastrtps --repeat-until-fail 100 reported success

test_publisher__rmw_fastrtps_cpp: TestPublisherFixtureInit__rmw_fastrtps_cpp.test_mock_assert_liveliness

test_publisher__rmw_fastrtps_dynamic_cpp: TestPublisherFixtureInit__rmw_fastrtps_dynamic_cpp.test_mock_publish

These two fail consistently, though not always on the same tests. I will investigate them.

rcl_action

test_graph__rmw_fastrtps_cpp: TestActionGraphMultiNodeFixture.action_client_init_maybe_fail

test_graph__rmw_fastrtps_dynamic_cpp: TestActionGraphMultiNodeFixture.action_client_init_maybe_fail

Running colcon test --packages-select rcl_action --ctest-args -LE xfail -R test_graph__rmw_fastrtps --repeat-until-fail 100 reported success

JLBuenoLopez · 2021-03-17T08:15:07Z

Running the tests on Ubuntu 20.04, after a clean installation of ROS 2 Rolling and after removing the content on /dev/shm folder after every failed test:

Running colcon test --packages-select test_rmw_implementation --ctest-args -LE xfail -R test_create_destroy_node__rmw_fastrtps --repeat-until-fail 100 reported success

As soon as test 31 (test_create_destroy_node__rmw_fastrtps_dynamic_cpp) starts, fails. This test is always failing. Test 17 (test_create_destroy_node__rmw_fastrtps_cpp ends successfully.

Running colcon test --packages-select rcl --ctest-args -LE xfail -R test_node__rmw_fastrtps --repeat-until-fail 100 reported success

Similarly, as soon as test 73 (test_node__rmw_fastrtps_dynamic_cpp) starts, fails. This test always fails. Test 46 (test_node__rmw_fastrtps_cpp) ends successfully.

Running colcon test --packages-select rcl_action --ctest-args -LE xfail -R test_graph__rmw_fastrtps --repeat-until-fail 100 reported success

In this case both tests fail always in the first run: test 7 (test_graph__rmw_fastrtps_cpp) and test 10 (test_graph__rmw_fastrtps_dynamic_cpp).

Signed-off-by: Emerson Knapp <eknapp@amazon.com>

JLBuenoLopez · 2021-03-18T09:00:46Z

Commit fe90baa solves CI failures. CI looks good now (running on Ubuntu 20.04)

JLBuenoLopez

LGTM! Please uncrustify rmw_fastrtps_shared_cpp/src/rmw_client.cpp and rmw_fastrtps_shared_cpp/src/rmw_service.cpp, and fix copyright notice on the new test file.

rmw_fastrtps_shared_cpp/test/test_dds_qos_to_rmw_qos.cpp

Signed-off-by: Scott K Logan <logans@cottsay.net>

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

* Changes required to incorporate the network flows feature Signed-off-by: Miguel Barro <miguelbarro@eprosima.com> Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Update API names to match rmw updated ones Signed-off-by: Miguel Barro <miguelbarro@eprosima.com> Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Update to new options interface. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Solve windows linkage issues. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Remove unique flows support on publishers. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Update subscription creation to new Fast DDS interface Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Update to new locator getters interface. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Update to endpoints interface. Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> * Fix linting Signed-off-by: EduPonz <eduardoponz@eprosima.com> * Make linters happy Signed-off-by: EduPonz <eduardoponz@eprosima.com> * Use updated rmw interface Signed-off-by: Ananya Muddukrishna <ananya.x.muddukrishna@ericsson.com> * Uncrustify Signed-off-by: Ananya Muddukrishna <ananya.x.muddukrishna@ericsson.com> * Include C++ header before others Signed-off-by: Ananya Muddukrishna <ananya.x.muddukrishna@ericsson.com> * Use updated rmw interface to populate flow endpoint Signed-off-by: Ananya Muddukrishna <ananya.x.muddukrishna@ericsson.com> * Fixed unreferenced local variable warnings Signed-off-by: Miguel Company <MiguelCompany@eprosima.com> Co-authored-by: Miguel Barro <miguelbarro@eprosima.com> Co-authored-by: EduPonz <eduardoponz@eprosima.com> Co-authored-by: Ananya Muddukrishna <ananya.x.muddukrishna@ericsson.com>

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

JLBuenoLopez reviewed Feb 17, 2021

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JLBuenoLopez reviewed Feb 18, 2021

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JLBuenoLopez reviewed Feb 19, 2021

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rmw_fastrtps_shared_cpp/src/utils.cpp Outdated Show resolved Hide resolved

rmw_fastrtps_shared_cpp/test/test_logging.cpp Outdated Show resolved Hide resolved

JLBuenoLopez reviewed Feb 23, 2021

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JLBuenoLopez reviewed Feb 24, 2021

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JLBuenoLopez reviewed Feb 25, 2021

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JLBuenoLopez suggested changes Feb 25, 2021

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MiguelCompany requested changes Mar 2, 2021

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MiguelCompany force-pushed the feature/dds-api-refactor-rebased branch 2 times, most recently from dc80c49 to 65a1ef6 Compare March 9, 2021 10:33

MiguelCompany force-pushed the feature/dds-api-refactor-rebased branch from cf24cf5 to ba31af5 Compare March 11, 2021 12:09

JLBuenoLopez suggested changes Mar 15, 2021

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MiguelCompany force-pushed the feature/dds-api-refactor-rebased branch from 5c78569 to 34e8225 Compare March 16, 2021 09:51

JLBuenoLopez suggested changes Mar 16, 2021

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Take and return new RMW_DURATION_INFINITE correctly (ros2#515)

ae1f213

Signed-off-by: Emerson Knapp <eknapp@amazon.com>

MiguelCompany force-pushed the feature/dds-api-refactor-rebased branch 3 times, most recently from f860e06 to 8e03b3b Compare March 18, 2021 11:53

JLBuenoLopez approved these changes Mar 18, 2021

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rmw_fastrtps_shared_cpp/test/test_dds_qos_to_rmw_qos.cpp Outdated Show resolved Hide resolved

4.5.0

bad7c66

Signed-off-by: Scott K Logan <logans@cottsay.net>

MiguelCompany and others added 26 commits April 5, 2021 19:41

Added test for dds_qos_to_rmw_qos

4d9c19c

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Improvements on destroy_client

9cefd7e

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Improvements on destroy_service

6e1c82f

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Linters

f6dd571

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Avoid API break on native getters.

732d814

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Removed old native getters API.

c2f6899

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Use pointers on output arguments.

7ad1f99

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Flip operands on equal comparisons.

c7a5149

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Apply suggestions on destroy_service and destroy_client.

30a462b

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Added topic holder utility.

0c988c7

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Apply suggestions on publisher creation.

745e152

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Apply suggestions on subscription creation.

7898d5e

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Apply suggestions on client creation.

f1d4621

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Apply suggestions on service creation.

7ed04a1

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Linters

940ac4a

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Using auto where possible.

88d6ac0

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>

Documentation on utils.hpp

f4e24ec

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>

Linters

87b2371

Signed-off-by: Miguel Company <miguelcompany@eprosima.com>

Fixed some basic review comments.

6ac968a

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Removed redundant initialization of listeners.

1e8f025

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Fixed doxygen

2f82295

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Use snake_case variable names.

5823fd3

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Reduced cleanup lambdas.

7a2a52a

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Apply suggestions on destroy_participant.

28b3b0f

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

Apply suggestions on destroy_publisher and destroy_subscription.

fd6fe5d

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

MiguelCompany force-pushed the feature/dds-api-refactor-rebased branch from 2bc658a to e0b0b01 Compare April 5, 2021 18:14

Fix segfault on cleanup lambda

2f4e0cc

Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>

MiguelCompany closed this Apr 6, 2021

MiguelCompany deleted the feature/dds-api-refactor-rebased branch April 6, 2021 07:31

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Refactor RMW to use DDS API [10557] #3

Refactor RMW to use DDS API [10557] #3

jparisu commented Feb 10, 2021 •

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Refactor RMW to use DDS API [10557] #3

Refactor RMW to use DDS API [10557] #3

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