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Removed some heap interactions in rmw_serialize.cpp #590

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merged 1 commit into from
Mar 18, 2022

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WideAwakeTN
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The functions rmw_deserialize and rmw_serialize in the file rmw_seralize.cpp created an instance of the class MessageTypeSupport_cpp on the heap but this instances can also be allocated on the stack.
This change removes 2 new and 2 delete calls which makes serialization and deserialization faster and enables this code to be hard realtime capable.

PS: I hope I got the sign-off correct now,...

Signed-off-by: Martin Mayer martin.mayer@gmx.de

Signed-off-by: Martin Mayer <martin.mayer@gmx.de>
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WideAwakeTN commented Mar 17, 2022

The build error seems to be unrelated to my pull request. The first compiled file has an include error:

rmw_fastrtps/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_event_info.hpp:28:10: fatal error: rmw/event_callback_type.h: No such file or directory

Moreover the project compiles on my machine without problems.

@WideAwakeTN WideAwakeTN marked this pull request as ready for review March 17, 2022 11:17
@clalancette
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The build error seems to be unrelated to my pull request.

Yeah, that's fine. We are having problems across the board with the transition to Ubuntu 22.04. We'll run CI manually on it once it has been reviewed.

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looks good to me. i am not sure how much it can actually be better though.

in theory, the followings could be advantage from this.

  • better for CPU cache affinity.
  • memory allocation / dis-allocation time.
  • system call interruption.
  • code maintenance.

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CI:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Windows Build Status

@fujitatomoya fujitatomoya added the enhancement New feature or request label Mar 18, 2022
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@MiguelCompany can you do another review?

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LGTM

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Calling the system heap has two major problems:

  • The duration of a call is unpredictable since a lot of things could happen inside the heap. Thus don't use the heap, i.e. new or delete, in code that needs to be super fast.
  • The real problem is the mutex that guards heap access. It is totally undeterministic how long it takes to even get access to the system heap. In a hard real-time system with priority based scheduling this can even lead to deadlocks (worst case).

And yes, avoiding the heap is also beneficial for CPU & memory caching.

I suggest to have a hard-realtime test for ROS2 that checks for new & delete calls during the cyclic/realtime phase of a node for DDS implementations that claim to be hard realtime capable, in case such a test does not exist yet. I am new to ROS2 development and don't know if such a test already exists.

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I suggest to have a hard-realtime test for ROS2

That is one of the goals of the Real-time Working Goup

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WideAwakeTN commented Mar 18, 2022

The CI Windows build says:
11:21:51 build\demo_nodes_cpp\Testing\20220318-0943\Test.xml: 3 tests, 0 errors, 3 failures, 0 skipped
11:21:58 build\demo_nodes_cpp\test_results\demo_nodes_cpp\test_tutorial_add_two_ints_server_add_two_ints_client__rmw_fastrtps_cpp.xunit.xml: 2 tests, 1 error, 1 failure, 0 skipped
11:21:58 build\demo_nodes_cpp\test_results\demo_nodes_cpp\test_tutorial_add_two_ints_server_add_two_ints_client_async__rmw_fastrtps_cpp.xunit.xml: 2 tests, 1 error, 1 failure, 0 skipped

Did that problem already exist under Windows before my change? Where can I check previous builds?

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windows CI failure looks unrelated, i will re-run CI for windows/fastrtps.

  • Windows Build Status

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CI is all green, i will go ahead to merge this.

@fujitatomoya fujitatomoya merged commit eb189fb into ros2:master Mar 18, 2022
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@WideAwakeTN appreciate for your contribution 👍

timonegk pushed a commit to timonegk/ros-rolling-rmw-fastrtps-cpp-release that referenced this pull request May 21, 2022
ros-rolling-rmw-fastrtps-cpp (6.2.1-1jammy) jammy; urgency=high
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  * Add pub/sub init, publish and take instrumentation using tracetools (#591 <ros2/rmw_fastrtps#591>)
  * Add content filter topic feature (#513 <ros2/rmw_fastrtps#513>)
  * Add sequence numbers to message info structure (#587 <ros2/rmw_fastrtps#587>)
  * Removed some heap interactions in rmw_serialize.cpp (#590 <ros2/rmw_fastrtps#590>)
  * Contributors: Chen Lihui, Christophe Bedard, Ivan Santiago Paunovic, WideAwakeTN
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ros-rolling-rmw-fastrtps-cpp (6.2.0-1jammy) jammy; urgency=high
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  * Add EventsExecutor (#468 <ros2/rmw_fastrtps#468>)
  * Install headers to include/${PROJECT_NAME} (#578 <ros2/rmw_fastrtps#578>)
  * Contributors: Shane Loretz, iRobot ROS
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ros-rolling-rmw-fastrtps-cpp (6.1.2-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (6.1.1-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (6.1.0-1jammy) jammy; urgency=high
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  * Add client/service QoS getters. (#560 <ros2/rmw_fastrtps#560>)
  * Contributors: mauropasse
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ros-rolling-rmw-fastrtps-cpp (6.0.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (5.2.2-1jammy) jammy; urgency=high
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  * Correctly recalculate serialized size on bounded sequences. (#540 <ros2/rmw_fastrtps#540>)
  * Fix type size alignment. (#550 <ros2/rmw_fastrtps#550>)
  * Contributors: Miguel Company
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ros-rolling-rmw-fastrtps-cpp (5.2.1-1jammy) jammy; urgency=high
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  * Change links from index.ros.org -> docs.ros.org (#539 <ros2/rmw_fastrtps#539>)
  * Contributors: Chris Lalancette
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ros-rolling-rmw-fastrtps-cpp (5.2.0-1jammy) jammy; urgency=high
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  * Add rmw_publisher_wait_for_all_acked support. (#519 <ros2/rmw_fastrtps#519>)
  * Contributors: Barry Xu
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ros-rolling-rmw-fastrtps-cpp (5.1.0-1jammy) jammy; urgency=high
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  * Loan messages implementation (#523 <ros2/rmw_fastrtps#523>)
    * Added is_plain_ attribute to base TypeSupport.
    * Added new methods to base TypeSupport.
    * Implementation of rmw_borrow_loaned_message.
    * Implementation of rmw_return_loaned_message_from_publisher.
    * Enable loan messages on publishers of plain types.
    * Implementation for taking loaned messages.
    * Enable loan messages on subscriptions of plain types.
  * Contributors: Miguel Company
.
ros-rolling-rmw-fastrtps-cpp (5.0.0-1jammy) jammy; urgency=high
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  * Refactor to use DDS standard API (#518 <ros2/rmw_fastrtps#518>)
  * Unique network flows (#502 <ros2/rmw_fastrtps#502>)
  * updating quality declaration links (re: ros2/docs.ros2.org#52 <ros2/docs.ros2.org#52>) (#520 <ros2/rmw_fastrtps#520>)
  * Contributors: Miguel Company, shonigmann
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ros-rolling-rmw-fastrtps-cpp (4.5.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (4.4.0-1jammy) jammy; urgency=high
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  * Add RMW function to check QoS compatibility (#511 <ros2/rmw_fastrtps#511>)
  * Capture cdr exceptions (#505 <ros2/rmw_fastrtps#505>)
  * Contributors: Jacob Perron, Miguel Company
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ros-rolling-rmw-fastrtps-cpp (4.3.0-1jammy) jammy; urgency=high
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  * Load profiles based on topic names (#335 <ros2/rmw_fastrtps#335>)
  * Set rmw_dds_common::GraphCache callback after init succeeds. (#496 <ros2/rmw_fastrtps#496>)
  * Handle typesupport errors on fetch. (#495 <ros2/rmw_fastrtps#495>)
  * Contributors: Eduardo Ponz Segrelles, Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (4.2.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (4.1.0-1jammy) jammy; urgency=high
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  * Check for correct context shutdown (#486 <ros2/rmw_fastrtps#486>)
  * New environment variable to change easily the publication mode (#470 <ros2/rmw_fastrtps#470>)
  * Contributors: Ignacio Montesino Valle, José Luis Bueno López
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ros-rolling-rmw-fastrtps-cpp (4.0.0-1jammy) jammy; urgency=high
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  * Discriminate when the Client has gone from when the Client has not completely matched (#467 <ros2/rmw_fastrtps#467>)
    * Workaround when the client is gone before server sends response
    * Change add to the map to listener callback
  * Update the package.xml files with the latest Open Robotics maintainers (#459 <ros2/rmw_fastrtps#459>)
  * Update Quality Declarations and READMEs (#455 <ros2/rmw_fastrtps#455>)
    * Add QD links for dependencies to rmw_fastrtps_cpp QD
    * Provide external dependencies QD links
    * Update rmw_fastrtps README to use Fast DDS
    * Update rmw_fastrtps_cpp QD: Fast DDS & unit test
    * Update README rmw_fastrtps_cpp to QL2
  * Contributors: JLBuenoLopez-eProsima, Jaime Martin Losa, José Luis Bueno López, Michael Jeronimo
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ros-rolling-rmw-fastrtps-cpp (3.1.4-1jammy) jammy; urgency=high
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  * Perform fault injection in all creation/destruction APIs. (#453 <ros2/rmw_fastrtps#453>)
  * Ensure rmw_destroy_node() completes despite run-time errors. (#458 <ros2/rmw_fastrtps#458>)
  * Update rmw_fastrtps_cpp and rmw_fastrtps_shared_cpp QDs to QL2. (#456 <ros2/rmw_fastrtps#456>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (3.1.3-1jammy) jammy; urgency=high
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  * Return RMW_RET_UNSUPPORTED in rmw_get_serialized_message_size (#452 <ros2/rmw_fastrtps#452>)
  * Contributors: Alejandro Hernández Cordero
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ros-rolling-rmw-fastrtps-cpp (3.1.2-1jammy) jammy; urgency=high
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  * Updated publisher/subscription allocation and wait set API return codes (#443 <ros2/rmw_fastrtps#443>)
  * Added rmw_logging tests (#442 <ros2/rmw_fastrtps#442>)
  * Contributors: Alejandro Hernández Cordero
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ros-rolling-rmw-fastrtps-cpp (3.1.1-1jammy) jammy; urgency=high
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  * Make service/client construction/destruction implementation compliant (#445 <ros2/rmw_fastrtps#445>)
  * Make sure type can be unregistered successfully (#437 <ros2/rmw_fastrtps#437>)
  * Contributors: Barry Xu, Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (3.1.0-1jammy) jammy; urgency=high
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  * Add tests for native entity getters. (#439 <ros2/rmw_fastrtps#439>)
  * Avoid deadlock if graph update fails. (#438 <ros2/rmw_fastrtps#438>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (3.0.0-1jammy) jammy; urgency=high
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  * Call Domain::removePublisher while failure occurs in create_publisher (#434 <ros2/rmw_fastrtps#434>)
  * Contributors: Barry Xu
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ros-rolling-rmw-fastrtps-cpp (2.6.0-1jammy) jammy; urgency=high
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  * Ensure compliant matched pub/sub count API. (#424 <ros2/rmw_fastrtps#424>)
  * Ensure compliant publisher QoS queries. (#425 <ros2/rmw_fastrtps#425>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (2.5.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (2.4.0-1jammy) jammy; urgency=high
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  * Ensure compliant subscription API. (#419 <ros2/rmw_fastrtps#419>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (2.3.0-1jammy) jammy; urgency=high
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  * Ensure compliant publisher API. (#414 <ros2/rmw_fastrtps#414>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (2.2.0-1jammy) jammy; urgency=high
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  * Set context actual domain id (#410 <ros2/rmw_fastrtps#410>)
  * Contributors: Ivan Santiago Paunovic
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ros-rolling-rmw-fastrtps-cpp (2.1.0-1jammy) jammy; urgency=high
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  * Ensure compliant node construction/destruction API. (#408 <ros2/rmw_fastrtps#408>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (2.0.0-1jammy) jammy; urgency=high
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  * Remove domain_id and localhost_only from node API (#407 <ros2/rmw_fastrtps#407>)
  * Amend rmw_init() implementation: require enclave. (#406 <ros2/rmw_fastrtps#406>)
  * Update Quality Declarations to QL3. (#404 <ros2/rmw_fastrtps#404>)
  * Contributors: Ivan Santiago Paunovic, Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (1.1.0-1jammy) jammy; urgency=high
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  * Ensure compliant init/shutdown API implementation. (#401 <ros2/rmw_fastrtps#401>)
  * Update Quality Declaration to QL3. (#403 <ros2/rmw_fastrtps#403>)
  * Finalize context iff shutdown. (#396 <ros2/rmw_fastrtps#396>)
  * Make service wait for response reader (#390 <ros2/rmw_fastrtps#390>)
  * Contributors: Michel Hidalgo, Miguel Company
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ros-rolling-rmw-fastrtps-cpp (1.0.1-1jammy) jammy; urgency=high
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  * Add Security Vulnerability Policy pointing to REP-2006 (#389 <ros2/rmw_fastrtps#389>)
  * Update QDs for 1.0 (#383 <ros2/rmw_fastrtps#383>)
  * Contributors: Chris Lalancette, Stephen Brawner
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ros-rolling-rmw-fastrtps-cpp (1.0.0-1jammy) jammy; urgency=high
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  * Remove API related to manual by node liveliness.  (#379 <ros2/rmw_fastrtps#379>)
  * Update quality declarations on feature testing. (#380 <ros2/rmw_fastrtps#380>)
  * Contributors: Ivan Santiago Paunovic, Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (0.9.1-1jammy) jammy; urgency=high
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  * Add package READMEs and QUALITY_DECLARATION files (#375 <ros2/rmw_fastrtps#375>)
  * Added doxyfiles (#372 <ros2/rmw_fastrtps#372>)
  * Contributors: Alejandro Hernández Cordero, brawner
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ros-rolling-rmw-fastrtps-cpp (0.9.0-1jammy) jammy; urgency=high
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  * Add missing export of rmw_dds_common. (#374 <ros2/rmw_fastrtps#374>)
  * Rename rosidl_message_bounds_t. (#373 <ros2/rmw_fastrtps#373>)
  * Feature/services timestamps. (#369 <ros2/rmw_fastrtps#369>)
  * Add support for taking a sequence of messages. (#366 <ros2/rmw_fastrtps#366>)
  * security-context -> enclave. (#365 <ros2/rmw_fastrtps#365>)
  * Rename rosidl_generator_c namespace to rosidl_runtime_c. (#367 <ros2/rmw_fastrtps#367>)
  * Remove custom typesupport for rmw_dds_common interfaces. (#364 <ros2/rmw_fastrtps#364>)
  * Added rosidl_runtime c and cpp depencencies. (#351 <ros2/rmw_fastrtps#351>)
  * Switch to one Participant per Context. (#312 <ros2/rmw_fastrtps#312>)
  * Add rmw_*_event_init() functions. (#354 <ros2/rmw_fastrtps#354>)
  * Fixing type support C/CPP mix on rmw_fastrtps_dynamic_cpp. (#350 <ros2/rmw_fastrtps#350>)
  * Fix build warning in Ubuntu Focal. (#346 <ros2/rmw_fastrtps#346>)
  * Code style only: wrap after open parenthesis if not in one line. (#347 <ros2/rmw_fastrtps#347>)
  * Passing down type support information (#342 <ros2/rmw_fastrtps#342>)
  * Implement functions to get publisher and subcription informations like QoS policies from topic name. (#336 <ros2/rmw_fastrtps#336>)
  * Contributors: Alejandro Hernández Cordero, Dirk Thomas, Ingo Lütkebohle, Ivan Santiago Paunovic, Jaison Titus, Miaofei Mei, Michael Carroll, Miguel Company, Mikael Arguedas
.
ros-rolling-rmw-fastrtps-cpp (0.8.1-1jammy) jammy; urgency=high
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  * use return_loaned_message_from (#334 <ros2/rmw_fastrtps#334>)
  * Restrict traffic to localhost only if env var is provided (#331 <ros2/rmw_fastrtps#331>)
  * Zero copy api (#322 <ros2/rmw_fastrtps#322>)
  * update signature for added pub/sub options (#329 <ros2/rmw_fastrtps#329>)
  * Contributors: Brian Marchi, Karsten Knese, William Woodall
.
ros-rolling-rmw-fastrtps-cpp (0.8.0-1jammy) jammy; urgency=high
.
  * Add function for getting clients by node (#293 <ros2/rmw_fastrtps#293>)
  * Implement get_actual_qos() for subscriptions (#287 <ros2/rmw_fastrtps#287>)
  * Fix error message (#290 <ros2/rmw_fastrtps#290>)
  * Contributors: Jacob Perron, M. M
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ros-rolling-rmw-fastrtps-cpp (0.7.3-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (0.7.2-1jammy) jammy; urgency=high
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  * Centralize topic name creation logic and update to match FastRTPS 1.8 API (#272 <ros2/rmw_fastrtps#272>)
  * Contributors: Nick Burek
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ros-rolling-rmw-fastrtps-cpp (0.7.1-1jammy) jammy; urgency=high
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  * Support arbitrary message namespaces  (#266 <ros2/rmw_fastrtps#266>)
  * Add qos interfaces with no-op (#271 <ros2/rmw_fastrtps#271>)
  * Updates for preallocation API. (#274 <ros2/rmw_fastrtps#274>)
  * Contributors: Jacob Perron, Michael Carroll, Ross Desmond
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ros-rolling-rmw-fastrtps-cpp (0.7.0-1jammy) jammy; urgency=high
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  * Add function to get publisher actual qos settings (#267 <ros2/rmw_fastrtps#267>)
  * pass context to wait set and fini context (#252 <ros2/rmw_fastrtps#252>)
  * Improve service_is_available logic to protect that client is waiting forever (#238 <ros2/rmw_fastrtps#238>)
  * Merge pull request #250 <ros2/rmw_fastrtps#250> from ros2/support_static_lib
  * use namespace_prefix from shared package
  * Contributors: Dirk Thomas, DongheeYe, William Woodall, ivanpauno
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ros-rolling-rmw-fastrtps-cpp (0.6.1-1jammy) jammy; urgency=high
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  * Add topic cache object for managing topic relations (#236 <ros2/rmw_fastrtps#236>)
  * Fastrtps 1.7.0 (#233 <ros2/rmw_fastrtps#233>)
  * RMW_FastRTPS configuration from XML only (#243 <ros2/rmw_fastrtps#243>)
  * refactor to support init options and context (#237 <ros2/rmw_fastrtps#237>)
  * Methods to retrieve matched counts on pub/sub (#234 <ros2/rmw_fastrtps#234>)
  * use uint8_array (#240 <ros2/rmw_fastrtps#240>)
  * Contributors: Juan Carlos, Karsten Knese, Michael Carroll, MiguelCompany, Ross Desmond, William Woodall
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ros-rolling-rmw-fastrtps-cpp (0.6.0-1jammy) jammy; urgency=high
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  * Add semicolons to all RCLCPP and RCUTILS macros. (#229 <ros2/rmw_fastrtps#229>)
  * Include node namespaces in get_node_names (#224 <ros2/rmw_fastrtps#224>)
  * add rmw_get_serialization_format (#215 <ros2/rmw_fastrtps#215>)
  * Merge pull request #218 <ros2/rmw_fastrtps#218> from ros2/pr203
  * Revert "fix template closing indentation (#214 <ros2/rmw_fastrtps#214>)"
  * fix template closing indentation (#214 <ros2/rmw_fastrtps#214>)
  * Contributors: Chris Lalancette, Dirk Thomas, Karsten Knese, Michael Carroll, Miguel Company, Mikael Arguedas
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ros-rolling-rmw-fastrtps-cpp (0.5.1-1jammy) jammy; urgency=high
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  * update maintainer
  * Contributors: Dirk Thomas
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ros-rolling-rmw-fastrtps-cpp (0.5.0-1jammy) jammy; urgency=high
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  * Avoid allocations (#211 <ros2/rmw_fastrtps#211>)
  * Temporary buffer remove (#207 <ros2/rmw_fastrtps#207>)
  * Validate the buffer_ of CustomServiceRequest object before using it to (#210 <ros2/rmw_fastrtps#210>)
  * update usage of rcutils_join_path() (#208 <ros2/rmw_fastrtps#208>)
  * Expose raw CDR stream for publish and subscribe (#186 <ros2/rmw_fastrtps#186>)
  * Remove topic partitions (#192 <ros2/rmw_fastrtps#192>)
  * Fix leak if client reponse is never taken (#201 <ros2/rmw_fastrtps#201>)
  * Revert "Export rmw_fastrtps_cpp target" (#200 <ros2/rmw_fastrtps#200>)
  * Support access control  (#197 <ros2/rmw_fastrtps#197>)
  * Export rmw_fastrtps_cpp target (#198 <ros2/rmw_fastrtps#198>)
  * Fix deserialization segfault in bionic. (#199 <ros2/rmw_fastrtps#199>)
  * Fix namespaces (#196 <ros2/rmw_fastrtps#196>)
  * Merge pull request #182 <ros2/rmw_fastrtps#182> from ros2/node_name_in_user_data
  * add participant listener
  * add node name to user data
  * change export order for static linking (#190 <ros2/rmw_fastrtps#190>)
  * update style (#189 <ros2/rmw_fastrtps#189>)
  * optimize timeout judgement according to different condition (#187 <ros2/rmw_fastrtps#187>)
  * use existing check_wait_set_for_data to avoid duplicated code (#185 <ros2/rmw_fastrtps#185>)
  * Enable logging level manipulation from rmw_fastrtps (#156 <ros2/rmw_fastrtps#156>)
  * Small performance improvements (#183 <ros2/rmw_fastrtps#183>)
  * Segmentation error to dereference nullptr (#180 <ros2/rmw_fastrtps#180>)
  * Contributors: Dirk Thomas, Ethan Gao, Guillaume Autran, Karsten Knese, Michael Carroll, MiguelCompany, Mikael Arguedas, Minggang Wang, Rohit Salem, Shane Loretz, Sriram Raghunathan, William Woodall, jwang11
.
ros-rolling-rmw-fastrtps-cpp (0.4.0-1jammy) jammy; urgency=high
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  * Merge pull request #178 <ros2/rmw_fastrtps#178> from ros2/fix_wrong_count
  * Merge pull request #177 <ros2/rmw_fastrtps#177> from ros2/rename_group
  * Wait set two words (#175 <ros2/rmw_fastrtps#175>)
  * not exporting pthread manually (#174 <ros2/rmw_fastrtps#174>)
  * Merge pull request #169 <ros2/rmw_fastrtps#169> from ros2/rep149
  * Merge pull request #171 <ros2/rmw_fastrtps#171> from jwang11/master
  * rcutils_join_path returns a char * now. (#173 <ros2/rmw_fastrtps#173>)
  * memory leak issue (#172 <ros2/rmw_fastrtps#172>)
  * Unify and simplify de/serializeROSmessage processing
  * Avoid duplicated code in calculateMaxSerializedSize for array and normal member (#168 <ros2/rmw_fastrtps#168>)
  * Fix the issues to dereference to nullptr (#165 <ros2/rmw_fastrtps#165>)
  * Fix rmw_fastrtps dead code (#163 <ros2/rmw_fastrtps#163>)
  * Merge pull request #167 <ros2/rmw_fastrtps#167> from deng02/tune-count-pub-sub
  * Remove string allocation in the count of subscribers and publishers
  * use auto deduction and nullptr to keep coding style consistent (#162 <ros2/rmw_fastrtps#162>)
  * Merge pull request #164 <ros2/rmw_fastrtps#164> from dejanpan/master
  * Fix several parameter check issues in rmw_fastrtps_cpp apis
  * Remove unnecessary dependency on rosidl_generator_cpp (#161 <ros2/rmw_fastrtps#161>)
  * Move the hasData checks for non-blocking wait 'timeout' higher (#158 <ros2/rmw_fastrtps#158>)
  * Support loading default XML profile file (#153 <ros2/rmw_fastrtps#153>)
  * Drop duplicated rmw_init.cpp in rmw_fastrtps_cpp/CMakeLists.txt (#155 <ros2/rmw_fastrtps#155>)
  * Merge pull request #154 <ros2/rmw_fastrtps#154> from ros2/uncrustify_master
  * Removing magic numbers: old maximun lengths (#152 <ros2/rmw_fastrtps#152>)
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