From 2090bd3e21d2a2977e69b905e73addb543e4b14a Mon Sep 17 00:00:00 2001
From: Michael Carroll <michael@openrobotics.org>
Date: Tue, 30 Apr 2019 14:40:15 -0500
Subject: [PATCH 1/4] Updates for preallocation API.

Signed-off-by: Michael Carroll <michael@openrobotics.org>
---
 rmw_fastrtps_cpp/src/rmw_publish.cpp          |  5 +++--
 rmw_fastrtps_cpp/src/rmw_publisher.cpp        | 21 +++++++++++++++++++
 rmw_fastrtps_cpp/src/rmw_subscription.cpp     | 21 +++++++++++++++++++
 rmw_fastrtps_cpp/src/rmw_take.cpp             | 15 +++++++++----
 rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp  |  7 +++++--
 .../src/rmw_publisher.cpp                     | 21 +++++++++++++++++++
 .../src/rmw_subscription.cpp                  | 21 +++++++++++++++++++
 rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp     | 13 ++++++++----
 .../rmw_fastrtps_shared_cpp/rmw_common.hpp    |  9 +++++---
 rmw_fastrtps_shared_cpp/src/rmw_publish.cpp   |  4 +++-
 rmw_fastrtps_shared_cpp/src/rmw_take.cpp      | 14 ++++++++-----
 11 files changed, 130 insertions(+), 21 deletions(-)

diff --git a/rmw_fastrtps_cpp/src/rmw_publish.cpp b/rmw_fastrtps_cpp/src/rmw_publish.cpp
index 26e8cbc9e..93e367b96 100644
--- a/rmw_fastrtps_cpp/src/rmw_publish.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publish.cpp
@@ -26,10 +26,11 @@
 extern "C"
 {
 rmw_ret_t
-rmw_publish(const rmw_publisher_t * publisher, const void * ros_message)
+rmw_publish(const rmw_publisher_t * publisher, const void * ros_message, rmw_publisher_allocation_t * allocation)
 {
+  (void) allocation;
   return rmw_fastrtps_shared_cpp::__rmw_publish(
-    eprosima_fastrtps_identifier, publisher, ros_message);
+    eprosima_fastrtps_identifier, publisher, ros_message, allocation);
 }
 
 rmw_ret_t
diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
index 5c68307d8..6e9bfb5f9 100644
--- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -34,6 +34,27 @@ using TopicDataType = eprosima::fastrtps::TopicDataType;
 
 extern "C"
 {
+rmw_ret_t
+rmw_init_publisher_allocation(
+  const rosidl_message_type_support_t * type_supports,
+  const rosidl_message_bounds_t * message_bounds,
+  rmw_publisher_allocation_t * allocation)
+{
+  (void) type_supports;
+  (void) message_bounds;
+  (void) allocation;
+  RMW_SET_ERROR_MSG("not implemented.");
+  return RMW_RET_ERROR;
+}
+
+rmw_ret_t
+rmw_fini_publisher_allocation(rmw_publisher_allocation_t * allocation)
+{
+  (void) allocation;
+  RMW_SET_ERROR_MSG("not implemented.");
+  return RMW_RET_ERROR;
+}
+
 rmw_publisher_t *
 rmw_create_publisher(
   const rmw_node_t * node,
diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
index 713e98f9f..6bd552b09 100644
--- a/rmw_fastrtps_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -38,6 +38,27 @@ using TopicDataType = eprosima::fastrtps::TopicDataType;
 
 extern "C"
 {
+rmw_ret_t
+rmw_init_subscription_allocation(
+  const rosidl_message_type_support_t * type_supports,
+  const rosidl_message_bounds_t * message_bounds,
+  rmw_subscription_allocation_t * allocation)
+{
+  (void) type_supports;
+  (void) message_bounds;
+  (void) allocation;
+  RMW_SET_ERROR_MSG("not implemented.");
+  return RMW_RET_ERROR;
+}
+
+rmw_ret_t
+rmw_fini_subscription_allocation(rmw_subscription_allocation_t * allocation)
+{
+  (void) allocation;
+  RMW_SET_ERROR_MSG("not implemented.");
+  return RMW_RET_ERROR;
+}
+
 rmw_subscription_t *
 rmw_create_subscription(
   const rmw_node_t * node,
diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp
index 849c19825..483a74f3e 100644
--- a/rmw_fastrtps_cpp/src/rmw_take.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_take.cpp
@@ -24,10 +24,15 @@
 extern "C"
 {
 rmw_ret_t
-rmw_take(const rmw_subscription_t * subscription, void * ros_message, bool * taken)
+rmw_take(
+  const rmw_subscription_t * subscription,
+  void * ros_message,
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
 {
+  (void) allocation;
   return rmw_fastrtps_shared_cpp::__rmw_take(
-    eprosima_fastrtps_identifier, subscription, ros_message, taken);
+    eprosima_fastrtps_identifier, subscription, ros_message, taken, allocation);
 }
 
 rmw_ret_t
@@ -35,10 +40,12 @@ rmw_take_with_info(
   const rmw_subscription_t * subscription,
   void * ros_message,
   bool * taken,
-  rmw_message_info_t * message_info)
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
 {
+  (void) allocation;
   return rmw_fastrtps_shared_cpp::__rmw_take_with_info(
-    eprosima_fastrtps_identifier, subscription, ros_message, taken, message_info);
+    eprosima_fastrtps_identifier, subscription, ros_message, taken, message_info, allocation);
 }
 
 rmw_ret_t
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp
index 6a5e414b1..d6817fbc1 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp
@@ -26,10 +26,13 @@
 extern "C"
 {
 rmw_ret_t
-rmw_publish(const rmw_publisher_t * publisher, const void * ros_message)
+rmw_publish(
+  const rmw_publisher_t * publisher,
+  const void * ros_message,
+  rmw_publisher_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_publish(
-    eprosima_fastrtps_identifier, publisher, ros_message);
+    eprosima_fastrtps_identifier, publisher, ros_message, allocation);
 }
 
 rmw_ret_t
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
index 422a66066..7f9eb6379 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -33,6 +33,27 @@ using TopicDataType = eprosima::fastrtps::TopicDataType;
 
 extern "C"
 {
+rmw_ret_t
+rmw_init_publisher_allocation(
+  const rosidl_message_type_support_t * type_supports,
+  const rosidl_message_bounds_t * message_bounds,
+  rmw_publisher_allocation_t * allocation)
+{
+  (void) type_supports;
+  (void) message_bounds;
+  (void) allocation;
+  RMW_SET_ERROR_MSG("not implemented.");
+  return RMW_RET_ERROR;
+}
+
+rmw_ret_t
+rmw_fini_publisher_allocation(rmw_publisher_allocation_t * allocation)
+{
+  (void) allocation;
+  RMW_SET_ERROR_MSG("not implemented.");
+  return RMW_RET_ERROR;
+}
+
 rmw_publisher_t *
 rmw_create_publisher(
   const rmw_node_t * node,
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
index e0aa1864b..7f01e7e61 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
@@ -38,6 +38,27 @@ using TopicDataType = eprosima::fastrtps::TopicDataType;
 
 extern "C"
 {
+rmw_ret_t
+rmw_init_subscription_allocation(
+  const rosidl_message_type_support_t * type_supports,
+  const rosidl_message_bounds_t * message_bounds,
+  rmw_subscription_allocation_t * allocation)
+{
+  (void) type_supports;
+  (void) message_bounds;
+  (void) allocation;
+  RMW_SET_ERROR_MSG("not implemented.");
+  return RMW_RET_ERROR;
+}
+
+rmw_ret_t
+rmw_fini_subscription_allocation(rmw_subscription_allocation_t * allocation)
+{
+  (void) allocation;
+  RMW_SET_ERROR_MSG("not implemented.");
+  return RMW_RET_ERROR;
+}
+
 rmw_subscription_t *
 rmw_create_subscription(
   const rmw_node_t * node,
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
index ce9192fa4..70ec9c69e 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
@@ -24,10 +24,14 @@
 extern "C"
 {
 rmw_ret_t
-rmw_take(const rmw_subscription_t * subscription, void * ros_message, bool * taken)
+rmw_take(
+  const rmw_subscription_t * subscription,
+  void * ros_message,
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_take(
-    eprosima_fastrtps_identifier, subscription, ros_message, taken);
+    eprosima_fastrtps_identifier, subscription, ros_message, taken, allocation);
 }
 
 rmw_ret_t
@@ -35,10 +39,11 @@ rmw_take_with_info(
   const rmw_subscription_t * subscription,
   void * ros_message,
   bool * taken,
-  rmw_message_info_t * message_info)
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_take_with_info(
-    eprosima_fastrtps_identifier, subscription, ros_message, taken, message_info);
+    eprosima_fastrtps_identifier, subscription, ros_message, taken, message_info, allocation);
 }
 
 rmw_ret_t
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
index 5824c95c5..de22ed597 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
@@ -113,7 +113,8 @@ rmw_ret_t
 __rmw_publish(
   const char * identifier,
   const rmw_publisher_t * publisher,
-  const void * ros_message);
+  const void * ros_message,
+  rmw_publisher_allocation_t * allocation);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
@@ -249,7 +250,8 @@ __rmw_take(
   const char * identifier,
   const rmw_subscription_t * subscription,
   void * ros_message,
-  bool * taken);
+  bool * taken,
+  rmw_subscription_allocation_t * allocation);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
@@ -258,7 +260,8 @@ __rmw_take_with_info(
   const rmw_subscription_t * subscription,
   void * ros_message,
   bool * taken,
-  rmw_message_info_t * message_info);
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp b/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp
index 6d9cc6ea9..16054881c 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp
@@ -29,8 +29,10 @@ rmw_ret_t
 __rmw_publish(
   const char * identifier,
   const rmw_publisher_t * publisher,
-  const void * ros_message)
+  const void * ros_message,
+  rmw_publisher_allocation_t * allocation)
 {
+  (void) allocation;
   RCUTILS_CHECK_FOR_NULL_WITH_MSG(publisher, "publisher pointer is null", return RMW_RET_ERROR);
   RCUTILS_CHECK_FOR_NULL_WITH_MSG(
     ros_message, "ros_message pointer is null", return RMW_RET_ERROR);
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_take.cpp b/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
index 873816cfc..432eb8bf7 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
@@ -49,8 +49,10 @@ _take(
   const rmw_subscription_t * subscription,
   void * ros_message,
   bool * taken,
-  rmw_message_info_t * message_info)
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
 {
+  (void) allocation;
   *taken = false;
 
   if (subscription->implementation_identifier != identifier) {
@@ -85,7 +87,8 @@ __rmw_take(
   const char * identifier,
   const rmw_subscription_t * subscription,
   void * ros_message,
-  bool * taken)
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
 {
   RCUTILS_CHECK_FOR_NULL_WITH_MSG(
     subscription, "subscription pointer is null", return RMW_RET_ERROR);
@@ -93,7 +96,7 @@ __rmw_take(
     ros_message, "ros_message pointer is null", return RMW_RET_ERROR);
   RCUTILS_CHECK_FOR_NULL_WITH_MSG(taken, "boolean flag for taken is null", return RMW_RET_ERROR);
 
-  return _take(identifier, subscription, ros_message, taken, nullptr);
+  return _take(identifier, subscription, ros_message, taken, nullptr, allocation);
 }
 
 rmw_ret_t
@@ -102,7 +105,8 @@ __rmw_take_with_info(
   const rmw_subscription_t * subscription,
   void * ros_message,
   bool * taken,
-  rmw_message_info_t * message_info)
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
 {
   RCUTILS_CHECK_FOR_NULL_WITH_MSG(
     subscription, "subscription pointer is null", return RMW_RET_ERROR);
@@ -112,7 +116,7 @@ __rmw_take_with_info(
   RCUTILS_CHECK_FOR_NULL_WITH_MSG(
     message_info, "message info pointer is null", return RMW_RET_ERROR);
 
-  return _take(identifier, subscription, ros_message, taken, message_info);
+  return _take(identifier, subscription, ros_message, taken, message_info, allocation);
 }
 
 rmw_ret_t

From d53d48527626fd7f42616c169e8ee2a6e4c4955a Mon Sep 17 00:00:00 2001
From: Michael Carroll <michael@openrobotics.org>
Date: Wed, 1 May 2019 11:02:25 -0500
Subject: [PATCH 2/4] Add allocation to serialized methods.

Signed-off-by: Michael Carroll <michael@openrobotics.org>
---
 rmw_fastrtps_cpp/src/rmw_publish.cpp              | 11 ++++++++---
 rmw_fastrtps_cpp/src/rmw_publisher.cpp            | 12 ++++++------
 rmw_fastrtps_cpp/src/rmw_subscription.cpp         | 15 ++++++++-------
 rmw_fastrtps_cpp/src/rmw_take.cpp                 | 11 +++++++----
 rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp      |  6 ++++--
 rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp    | 12 ++++++------
 rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp | 12 ++++++------
 rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp         | 11 +++++++----
 .../rmw_fastrtps_shared_cpp/rmw_common.hpp        |  9 ++++++---
 rmw_fastrtps_shared_cpp/src/rmw_publish.cpp       |  4 +++-
 rmw_fastrtps_shared_cpp/src/rmw_take.cpp          | 15 ++++++++++-----
 11 files changed, 71 insertions(+), 47 deletions(-)

diff --git a/rmw_fastrtps_cpp/src/rmw_publish.cpp b/rmw_fastrtps_cpp/src/rmw_publish.cpp
index 93e367b96..966eb1ac1 100644
--- a/rmw_fastrtps_cpp/src/rmw_publish.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publish.cpp
@@ -26,7 +26,10 @@
 extern "C"
 {
 rmw_ret_t
-rmw_publish(const rmw_publisher_t * publisher, const void * ros_message, rmw_publisher_allocation_t * allocation)
+rmw_publish(
+  const rmw_publisher_t * publisher,
+  const void * ros_message,
+  rmw_publisher_allocation_t * allocation)
 {
   (void) allocation;
   return rmw_fastrtps_shared_cpp::__rmw_publish(
@@ -35,9 +38,11 @@ rmw_publish(const rmw_publisher_t * publisher, const void * ros_message, rmw_pub
 
 rmw_ret_t
 rmw_publish_serialized_message(
-  const rmw_publisher_t * publisher, const rmw_serialized_message_t * serialized_message)
+  const rmw_publisher_t * publisher,
+  const rmw_serialized_message_t * serialized_message,
+  rmw_publisher_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_publish_serialized_message(
-    eprosima_fastrtps_identifier, publisher, serialized_message);
+    eprosima_fastrtps_identifier, publisher, serialized_message, allocation);
 }
 }  // extern "C"
diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
index 6e9bfb5f9..6fb15ac1c 100644
--- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -36,23 +36,23 @@ extern "C"
 {
 rmw_ret_t
 rmw_init_publisher_allocation(
-  const rosidl_message_type_support_t * type_supports,
+  const rosidl_message_type_support_t * type_support,
   const rosidl_message_bounds_t * message_bounds,
   rmw_publisher_allocation_t * allocation)
 {
-  (void) type_supports;
+  // Unused in current implementation.
+  (void) type_support;
   (void) message_bounds;
   (void) allocation;
-  RMW_SET_ERROR_MSG("not implemented.");
-  return RMW_RET_ERROR;
+  return RMW_RET_OK;
 }
 
 rmw_ret_t
 rmw_fini_publisher_allocation(rmw_publisher_allocation_t * allocation)
 {
+  // Unused in current implementation.
   (void) allocation;
-  RMW_SET_ERROR_MSG("not implemented.");
-  return RMW_RET_ERROR;
+  return RMW_RET_OK;
 }
 
 rmw_publisher_t *
diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
index 6bd552b09..a51fa5826 100644
--- a/rmw_fastrtps_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -40,23 +40,24 @@ extern "C"
 {
 rmw_ret_t
 rmw_init_subscription_allocation(
-  const rosidl_message_type_support_t * type_supports,
+  const rosidl_message_type_support_t * type_support,
   const rosidl_message_bounds_t * message_bounds,
   rmw_subscription_allocation_t * allocation)
 {
-  (void) type_supports;
+  (void) type_support;
   (void) message_bounds;
-  (void) allocation;
-  RMW_SET_ERROR_MSG("not implemented.");
-  return RMW_RET_ERROR;
+  // Since this feature is currently not implemented in FastRTPS, set the
+  // allocation pointer to NULL. The downstream `rmw_take` methods will
+  // ignore the value.
+  allocation = nullptr;
+  return RMW_RET_OK;
 }
 
 rmw_ret_t
 rmw_fini_subscription_allocation(rmw_subscription_allocation_t * allocation)
 {
   (void) allocation;
-  RMW_SET_ERROR_MSG("not implemented.");
-  return RMW_RET_ERROR;
+  return RMW_RET_OK;
 }
 
 rmw_subscription_t *
diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp
index 483a74f3e..313f5115e 100644
--- a/rmw_fastrtps_cpp/src/rmw_take.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_take.cpp
@@ -52,10 +52,11 @@ rmw_ret_t
 rmw_take_serialized_message(
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
-  bool * taken)
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_take_serialized_message(
-    eprosima_fastrtps_identifier, subscription, serialized_message, taken);
+    eprosima_fastrtps_identifier, subscription, serialized_message, taken, allocation);
 }
 
 rmw_ret_t
@@ -63,9 +64,11 @@ rmw_take_serialized_message_with_info(
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
   bool * taken,
-  rmw_message_info_t * message_info)
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_take_serialized_message_with_info(
-    eprosima_fastrtps_identifier, subscription, serialized_message, taken, message_info);
+    eprosima_fastrtps_identifier, subscription, serialized_message, taken, message_info,
+    allocation);
 }
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp
index d6817fbc1..a6e9c038d 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publish.cpp
@@ -37,9 +37,11 @@ rmw_publish(
 
 rmw_ret_t
 rmw_publish_serialized_message(
-  const rmw_publisher_t * publisher, const rmw_serialized_message_t * serialized_message)
+  const rmw_publisher_t * publisher,
+  const rmw_serialized_message_t * serialized_message,
+  rmw_publisher_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_publish_serialized_message(
-    eprosima_fastrtps_identifier, publisher, serialized_message);
+    eprosima_fastrtps_identifier, publisher, serialized_message, allocation);
 }
 }  // extern "C"
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
index 7f9eb6379..20d4621d5 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -35,23 +35,23 @@ extern "C"
 {
 rmw_ret_t
 rmw_init_publisher_allocation(
-  const rosidl_message_type_support_t * type_supports,
+  const rosidl_message_type_support_t * type_support,
   const rosidl_message_bounds_t * message_bounds,
   rmw_publisher_allocation_t * allocation)
 {
-  (void) type_supports;
+  // Unused in current implementation.
+  (void) type_support;
   (void) message_bounds;
   (void) allocation;
-  RMW_SET_ERROR_MSG("not implemented.");
-  return RMW_RET_ERROR;
+  return RMW_RET_OK;
 }
 
 rmw_ret_t
 rmw_fini_publisher_allocation(rmw_publisher_allocation_t * allocation)
 {
+  // Unused in current implementation.
   (void) allocation;
-  RMW_SET_ERROR_MSG("not implemented.");
-  return RMW_RET_ERROR;
+  return RMW_RET_OK;
 }
 
 rmw_publisher_t *
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
index 7f01e7e61..d7b23ef12 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
@@ -40,23 +40,23 @@ extern "C"
 {
 rmw_ret_t
 rmw_init_subscription_allocation(
-  const rosidl_message_type_support_t * type_supports,
+  const rosidl_message_type_support_t * type_support,
   const rosidl_message_bounds_t * message_bounds,
   rmw_subscription_allocation_t * allocation)
 {
-  (void) type_supports;
+  // Unused in current implementation.
+  (void) type_support;
   (void) message_bounds;
   (void) allocation;
-  RMW_SET_ERROR_MSG("not implemented.");
-  return RMW_RET_ERROR;
+  return RMW_RET_OK;
 }
 
 rmw_ret_t
 rmw_fini_subscription_allocation(rmw_subscription_allocation_t * allocation)
 {
+  // Unused in current implementation.
   (void) allocation;
-  RMW_SET_ERROR_MSG("not implemented.");
-  return RMW_RET_ERROR;
+  return RMW_RET_OK;
 }
 
 rmw_subscription_t *
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
index 70ec9c69e..9c2ea1533 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_take.cpp
@@ -50,10 +50,11 @@ rmw_ret_t
 rmw_take_serialized_message(
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
-  bool * taken)
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_take_serialized_message(
-    eprosima_fastrtps_identifier, subscription, serialized_message, taken);
+    eprosima_fastrtps_identifier, subscription, serialized_message, taken, allocation);
 }
 
 rmw_ret_t
@@ -61,9 +62,11 @@ rmw_take_serialized_message_with_info(
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
   bool * taken,
-  rmw_message_info_t * message_info)
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
 {
   return rmw_fastrtps_shared_cpp::__rmw_take_serialized_message_with_info(
-    eprosima_fastrtps_identifier, subscription, serialized_message, taken, message_info);
+    eprosima_fastrtps_identifier, subscription, serialized_message, taken, message_info,
+    allocation);
 }
 }  // extern "C"
diff --git a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
index de22ed597..ee38c769b 100644
--- a/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
+++ b/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/rmw_common.hpp
@@ -121,7 +121,8 @@ rmw_ret_t
 __rmw_publish_serialized_message(
   const char * identifier,
   const rmw_publisher_t * publisher,
-  const rmw_serialized_message_t * serialized_message);
+  const rmw_serialized_message_t * serialized_message,
+  rmw_publisher_allocation_t * allocation);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
@@ -269,7 +270,8 @@ __rmw_take_serialized_message(
   const char * identifier,
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
-  bool * taken);
+  bool * taken,
+  rmw_subscription_allocation_t * allocation);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
@@ -278,7 +280,8 @@ __rmw_take_serialized_message_with_info(
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
   bool * taken,
-  rmw_message_info_t * message_info);
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation);
 
 RMW_FASTRTPS_SHARED_CPP_PUBLIC
 rmw_ret_t
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp b/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp
index 16054881c..443d1f4d9 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_publish.cpp
@@ -60,8 +60,10 @@ rmw_ret_t
 __rmw_publish_serialized_message(
   const char * identifier,
   const rmw_publisher_t * publisher,
-  const rmw_serialized_message_t * serialized_message)
+  const rmw_serialized_message_t * serialized_message,
+  rmw_publisher_allocation_t * allocation)
 {
+  (void) allocation;
   RCUTILS_CHECK_FOR_NULL_WITH_MSG(publisher, "publisher pointer is null", return RMW_RET_ERROR);
   RCUTILS_CHECK_FOR_NULL_WITH_MSG(
     serialized_message, "serialized_message pointer is null", return RMW_RET_ERROR);
diff --git a/rmw_fastrtps_shared_cpp/src/rmw_take.cpp b/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
index 432eb8bf7..fbdfdbf38 100644
--- a/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
+++ b/rmw_fastrtps_shared_cpp/src/rmw_take.cpp
@@ -125,8 +125,10 @@ _take_serialized_message(
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
   bool * taken,
-  rmw_message_info_t * message_info)
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
 {
+  (void) allocation;
   *taken = false;
 
   if (subscription->implementation_identifier != identifier) {
@@ -172,7 +174,8 @@ __rmw_take_serialized_message(
   const char * identifier,
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
-  bool * taken)
+  bool * taken,
+  rmw_subscription_allocation_t * allocation)
 {
   RCUTILS_CHECK_FOR_NULL_WITH_MSG(
     subscription, "subscription pointer is null", return RMW_RET_ERROR);
@@ -180,7 +183,8 @@ __rmw_take_serialized_message(
     serialized_message, "ros_message pointer is null", return RMW_RET_ERROR);
   RCUTILS_CHECK_FOR_NULL_WITH_MSG(taken, "boolean flag for taken is null", return RMW_RET_ERROR);
 
-  return _take_serialized_message(identifier, subscription, serialized_message, taken, nullptr);
+  return _take_serialized_message(identifier, subscription, serialized_message, taken, nullptr,
+           allocation);
 }
 
 rmw_ret_t
@@ -189,7 +193,8 @@ __rmw_take_serialized_message_with_info(
   const rmw_subscription_t * subscription,
   rmw_serialized_message_t * serialized_message,
   bool * taken,
-  rmw_message_info_t * message_info)
+  rmw_message_info_t * message_info,
+  rmw_subscription_allocation_t * allocation)
 {
   RCUTILS_CHECK_FOR_NULL_WITH_MSG(
     subscription, "subscription pointer is null", return RMW_RET_ERROR);
@@ -200,6 +205,6 @@ __rmw_take_serialized_message_with_info(
     message_info, "message info pointer is null", return RMW_RET_ERROR);
 
   return _take_serialized_message(
-    identifier, subscription, serialized_message, taken, message_info);
+    identifier, subscription, serialized_message, taken, message_info, allocation);
 }
 }  // namespace rmw_fastrtps_shared_cpp

From e3e26255ddb7d0bd8b63cc4dfe84af02dcf3440f Mon Sep 17 00:00:00 2001
From: Michael Carroll <michael@openrobotics.org>
Date: Wed, 1 May 2019 13:31:54 -0500
Subject: [PATCH 3/4] Stub for serialized message size.

Signed-off-by: Michael Carroll <michael@openrobotics.org>
---
 rmw_fastrtps_cpp/src/rmw_serialize.cpp         | 10 ++++++++++
 rmw_fastrtps_cpp/src/rmw_subscription.cpp      |  5 +----
 rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp | 10 ++++++++++
 3 files changed, 21 insertions(+), 4 deletions(-)

diff --git a/rmw_fastrtps_cpp/src/rmw_serialize.cpp b/rmw_fastrtps_cpp/src/rmw_serialize.cpp
index 4dc5645ac..dd954efcc 100644
--- a/rmw_fastrtps_cpp/src/rmw_serialize.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_serialize.cpp
@@ -89,4 +89,14 @@ rmw_deserialize(
   delete tss;
   return ret == true ? RMW_RET_OK : RMW_RET_ERROR;
 }
+
+rmw_ret_t
+rmw_get_serialized_message_size(
+  const rosidl_message_type_support_t * /*type_support*/,
+  const rosidl_message_bounds_t * /*message_bounds*/,
+  size_t * /*size*/)
+{
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
 }  // extern "C"
diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
index a51fa5826..395c17448 100644
--- a/rmw_fastrtps_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -46,10 +46,7 @@ rmw_init_subscription_allocation(
 {
   (void) type_support;
   (void) message_bounds;
-  // Since this feature is currently not implemented in FastRTPS, set the
-  // allocation pointer to NULL. The downstream `rmw_take` methods will
-  // ignore the value.
-  allocation = nullptr;
+  (void) allocation;
   return RMW_RET_OK;
 }
 
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp
index 64efe0910..5e67c73a9 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_serialize.cpp
@@ -88,4 +88,14 @@ rmw_deserialize(
   delete tss;
   return ret == true ? RMW_RET_OK : RMW_RET_ERROR;
 }
+
+rmw_ret_t
+rmw_get_serialized_message_size(
+  const rosidl_message_type_support_t * /*type_support*/,
+  const rosidl_message_bounds_t * /*message_bounds*/,
+  size_t * /*size*/)
+{
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
+}
 }  // extern "C"

From e0ea3cee16b27eb0c2be013b04aaefcdb1bf0169 Mon Sep 17 00:00:00 2001
From: Michael Carroll <michael@openrobotics.org>
Date: Wed, 1 May 2019 17:10:13 -0500
Subject: [PATCH 4/4] Address reviewer feedback.

Signed-off-by: Michael Carroll <michael@openrobotics.org>
---
 rmw_fastrtps_cpp/src/rmw_publish.cpp              | 1 -
 rmw_fastrtps_cpp/src/rmw_publisher.cpp            | 6 ++++--
 rmw_fastrtps_cpp/src/rmw_subscription.cpp         | 8 ++++++--
 rmw_fastrtps_cpp/src/rmw_take.cpp                 | 2 --
 rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp    | 6 ++++--
 rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp | 6 ++++--
 6 files changed, 18 insertions(+), 11 deletions(-)

diff --git a/rmw_fastrtps_cpp/src/rmw_publish.cpp b/rmw_fastrtps_cpp/src/rmw_publish.cpp
index 966eb1ac1..006197397 100644
--- a/rmw_fastrtps_cpp/src/rmw_publish.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publish.cpp
@@ -31,7 +31,6 @@ rmw_publish(
   const void * ros_message,
   rmw_publisher_allocation_t * allocation)
 {
-  (void) allocation;
   return rmw_fastrtps_shared_cpp::__rmw_publish(
     eprosima_fastrtps_identifier, publisher, ros_message, allocation);
 }
diff --git a/rmw_fastrtps_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
index 6fb15ac1c..873301f01 100644
--- a/rmw_fastrtps_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_publisher.cpp
@@ -44,7 +44,8 @@ rmw_init_publisher_allocation(
   (void) type_support;
   (void) message_bounds;
   (void) allocation;
-  return RMW_RET_OK;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
 }
 
 rmw_ret_t
@@ -52,7 +53,8 @@ rmw_fini_publisher_allocation(rmw_publisher_allocation_t * allocation)
 {
   // Unused in current implementation.
   (void) allocation;
-  return RMW_RET_OK;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
 }
 
 rmw_publisher_t *
diff --git a/rmw_fastrtps_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
index 395c17448..4d92c958f 100644
--- a/rmw_fastrtps_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_subscription.cpp
@@ -44,17 +44,21 @@ rmw_init_subscription_allocation(
   const rosidl_message_bounds_t * message_bounds,
   rmw_subscription_allocation_t * allocation)
 {
+  // Unused in current implementation.
   (void) type_support;
   (void) message_bounds;
   (void) allocation;
-  return RMW_RET_OK;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
 }
 
 rmw_ret_t
 rmw_fini_subscription_allocation(rmw_subscription_allocation_t * allocation)
 {
+  // Unused in current implementation.
   (void) allocation;
-  return RMW_RET_OK;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
 }
 
 rmw_subscription_t *
diff --git a/rmw_fastrtps_cpp/src/rmw_take.cpp b/rmw_fastrtps_cpp/src/rmw_take.cpp
index 313f5115e..228df03e8 100644
--- a/rmw_fastrtps_cpp/src/rmw_take.cpp
+++ b/rmw_fastrtps_cpp/src/rmw_take.cpp
@@ -30,7 +30,6 @@ rmw_take(
   bool * taken,
   rmw_subscription_allocation_t * allocation)
 {
-  (void) allocation;
   return rmw_fastrtps_shared_cpp::__rmw_take(
     eprosima_fastrtps_identifier, subscription, ros_message, taken, allocation);
 }
@@ -43,7 +42,6 @@ rmw_take_with_info(
   rmw_message_info_t * message_info,
   rmw_subscription_allocation_t * allocation)
 {
-  (void) allocation;
   return rmw_fastrtps_shared_cpp::__rmw_take_with_info(
     eprosima_fastrtps_identifier, subscription, ros_message, taken, message_info, allocation);
 }
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
index 20d4621d5..5eb9f967a 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp
@@ -43,7 +43,8 @@ rmw_init_publisher_allocation(
   (void) type_support;
   (void) message_bounds;
   (void) allocation;
-  return RMW_RET_OK;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
 }
 
 rmw_ret_t
@@ -51,7 +52,8 @@ rmw_fini_publisher_allocation(rmw_publisher_allocation_t * allocation)
 {
   // Unused in current implementation.
   (void) allocation;
-  return RMW_RET_OK;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
 }
 
 rmw_publisher_t *
diff --git a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
index d7b23ef12..08e3c3e90 100644
--- a/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
+++ b/rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp
@@ -48,7 +48,8 @@ rmw_init_subscription_allocation(
   (void) type_support;
   (void) message_bounds;
   (void) allocation;
-  return RMW_RET_OK;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
 }
 
 rmw_ret_t
@@ -56,7 +57,8 @@ rmw_fini_subscription_allocation(rmw_subscription_allocation_t * allocation)
 {
   // Unused in current implementation.
   (void) allocation;
-  return RMW_RET_OK;
+  RMW_SET_ERROR_MSG("unimplemented");
+  return RMW_RET_ERROR;
 }
 
 rmw_subscription_t *