Update master in rmw_iceoryx for rolling

.github/workflows/lint.yml

@@ -5,15 +5,15 @@ on:
 jobs:
   lint:
     name: ament_${{ matrix.linter }}
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
     strategy:
       fail-fast: false
       matrix:
           linter: [cppcheck, cpplint, uncrustify, xmllint, copyright]
     steps:
-    - uses: actions/checkout@v1
-    - uses: ros-tooling/setup-ros@0.0.23
-    - uses: ros-tooling/action-ros-lint@0.0.6
+    - uses: actions/checkout@v2
+    - uses: ros-tooling/setup-ros@master
+    - uses: ros-tooling/action-ros-lint@master
       with:
         linter: ${{ matrix.linter }}
         package-name: |

.github/workflows/main.yml

@@ -12,16 +12,17 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-          os: [ubuntu-18.04]
+          os: [ubuntu-20.04]
     steps:
+      - uses: actions/checkout@v2
       - name: Setup ROS
-        uses: ros-tooling/setup-ros@0.0.23
+        uses: ros-tooling/setup-ros@master
+        with:
+          required-ros-distributions: rolling
       - name: Install Iceoryx Dependencies
         run: sudo apt-get update && sudo apt-get install -y cmake libacl1-dev libncurses5-dev pkg-config
       - name: Build & Test
-        uses: ros-tooling/action-ros-ci@0.0.17
+        uses: ros-tooling/action-ros-ci@master
         with:
           package-name: rmw_iceoryx_cpp iceoryx_ros2_bridge
-          vcs-repo-file-url: |
-            https://gist.githubusercontent.com/Karsten1987/1723f219bb5aa5b81355c7eb1477f867/raw/9dc4d877f6fd0f862070516febdbddea28723b5c/iceoryx.repos
-            https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos
+          target-ros2-distro: rolling

.gitignore

@@ -1 +1,6 @@
 *.swp
+.vscode/
+build/
+install/
+log/
+rclcpp/

README.md

@@ -7,10 +7,10 @@ Installation
 
 The following instructions show you how to install [iceoryx](https://github.com/eclipse/iceoryx) and its rmw implementation.
 The installation of iceoryx and rmw_iceoryx is pretty straight forward.
-All provided packages can be built with colcon so that you can easily build both, iceoryx and rmw_iceoryx, within your ROS2 workspace.
-rmw_iceoryx is using the [rosidl_typesupport_introspection](https://github.com/ros2/rosidl) which allows for building iceoryx on top of an existing ROS2 workspace or even debian installation as no ROS2 messages have to be built again.
+All provided packages can be built with colcon so that you can easily build both, iceoryx and rmw_iceoryx, within your ROS 2 workspace.
+rmw_iceoryx is using the [rosidl_typesupport_introspection](https://github.com/ros2/rosidl) which allows for building iceoryx on top of an existing ROS2 workspace or even debian installation as no ROS 2 messages have to be built again.
 
-To install iceoryx and rmw_iceoryx in a ROS2 workspace, just execute the steps below:
+To install iceoryx and rmw_iceoryx in a ROS 2 workspace, just execute the steps below:
 
 ```
 mkdir -p ~/iceoryx_ws/src
@@ -20,13 +20,15 @@ git clone https://github.com/ros2/rmw_iceoryx.git
 ```
 For alternative installation instructions and more details about iceoryx's internals, please see [iceoryx's GitHub repo](https://github.com/eclipse/iceoryx).
 
-rmw_iceoryx is compatible with ROS2 Eloquent.
+rmw_iceoryx is compatible with ROS 2 Galactic.
 Assuming you have ROS2 installed correctly, you can compile the iceoryx workspace with colcon:
 
 ```
 cd ~/iceoryx_ws/
-source /opt/ros/eloquent/setup.bash  # alternatively source your own ROS2 workspace
+source /opt/ros/galactic/setup.bash  # alternatively source your own ROS 2 workspace
 colcon build
+# or with more options
+colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF
 ```
 
 That's it! You've installed iceoryx and are ready to rumble.
@@ -82,7 +84,7 @@ rmw_iceoryx_cpp gives a loaned message to the subscription which can execute the
 
 Step 4 `return_loaned_message()`) A subscription callback is finished and the loaned message is getting returned to the middleware.
 
-Starting from ROS2 Eloquent, these features are implemented within rclcpp.
+Starting from ROS 2 Eloquent, these features are implemented within rclcpp.
 An application using these new features is shown in the code snippet below.
 For a fully working implementation, please have a look at [this demo node](https://github.com/ros2/demos/blob/master/demo_nodes_cpp/src/topics/talker_loaned_message.cpp).
 
@@ -123,4 +125,27 @@ Limitations
 
 rmw_iceoryx_cpp is currently under heavy development.
 Unfortunately, not all features are yet fully fleshed out.
-Other core functionalities like e.g. services are not yet implemented, but will follow soon.
+
+| ROS 2 command/feature | Status                             |
+|-----------------------|------------------------------------|
+| `ros2 topic list`     | :heavy_check_mark:                 |
+| `ros2 topic echo`     | :heavy_check_mark:                 |
+| `ros2 topic type`     | :heavy_check_mark:                 |
+| `ros2 topic info`     | :heavy_check_mark:                 |
+| `ros2 topic hz`       | :heavy_check_mark:                 |
+| `ros2 topic bw`       | :heavy_check_mark:                 |
+| `ros2 node list`      | :heavy_check_mark:                 |
+| `ros2 node info`      | :heavy_check_mark:                 |
+| `ros2 interface *`    | :heavy_check_mark:                 |
+| `ros2 service *`      | :x: (coming with iceoryx v2.0)     |
+| `ros2 param list`     | :x: (coming with iceoryx v2.0)     |
+| `rqt_graph`           | :heavy_check_mark:                 |
+| `rqt_top`             | :heavy_check_mark:                 |
+| `rqt_console`         | :heavy_check_mark:                 |
+| `rqt_plot`            | :heavy_check_mark:                 |
+| `rviz2`               | :heavy_check_mark:                 |
+| `ros2 bag`            | :grey_question:                    |
+| urdf                  | :grey_question:                    |
+| tf2                   | :grey_question:                    |
+| ROS 2 bridge          | :grey_question:                    |
+| RMW Pub/Sub Events    | :x:                                |

iceoryx_ros2_bridge/src/generic_subscription.cpp

@@ -1,4 +1,5 @@
 // Copyright 2018, Bosch Software Innovations GmbH.
+// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -88,6 +89,14 @@ void GenericSubscription::return_serialized_message(
   message.reset();
 }
 
+void GenericSubscription::handle_serialized_message(
+  const std::shared_ptr<rclcpp::SerializedMessage> & serialized_message,
+  const rclcpp::MessageInfo & message_info)
+{
+  (void) serialized_message;
+  (void) message_info;
+}
+
 void GenericSubscription::handle_loaned_message(
   void * loaned_message,
   const rclcpp::MessageInfo & message_info)

iceoryx_ros2_bridge/src/generic_subscription.hpp

@@ -1,4 +1,5 @@
 // Copyright 2018, Bosch Software Innovations GmbH.
+// Copyright (c) 2021 by Apex.AI Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -79,6 +80,10 @@ class GenericSubscription : public rclcpp::SubscriptionBase
 
   void return_serialized_message(std::shared_ptr<rclcpp::SerializedMessage> & message) override;
 
+  void handle_serialized_message(
+    const std::shared_ptr<rclcpp::SerializedMessage> & serialized_message,
+    const rclcpp::MessageInfo & message_info);
+
   void handle_loaned_message(
     void * loaned_message, const rclcpp::MessageInfo & message_info) override;
 

iceoryx_ros2_bridge/src/iceoryx_ros2_bridge.cpp

@@ -16,8 +16,8 @@
 #include <string>
 #include <vector>
 
-#include "iceoryx_posh/popo/publisher.hpp"
-#include "iceoryx_posh/popo/subscriber.hpp"
+#include "iceoryx_posh/popo/untyped_publisher.hpp"
+#include "iceoryx_posh/popo/untyped_subscriber.hpp"
 #include "iceoryx_posh/runtime/posh_runtime.hpp"
 
 #include "rclcpp/rclcpp.hpp"
@@ -61,21 +61,26 @@ bool deserialize_into(
 void publish_to_iceoryx(
   std::shared_ptr<rclcpp::SerializedMessage> serialized_msg,
   const rosidl_message_type_support_t * ts,
-  std::shared_ptr<iox::popo::Publisher> iceoryx_publisher)
+  std::shared_ptr<iox::popo::UntypedPublisher> iceoryx_publisher)
 {
   auto introspection_ts = static_cast<const rosidl_typesupport_introspection_cpp::MessageMembers *>(
     get_message_typesupport_handle(
       ts, rosidl_typesupport_introspection_cpp::typesupport_identifier)->data);
 
   if (rmw_iceoryx_cpp::iceoryx_is_fixed_size(ts)) {
-    void * ros_msg = iceoryx_publisher->allocateChunk(introspection_ts->size_of_);
-    introspection_ts->init_function(ros_msg, rosidl_runtime_cpp::MessageInitialization::ALL);
-
-    if (false == deserialize_into(serialized_msg.get(), ts, ros_msg)) {
-      iceoryx_publisher->freeChunk(ros_msg);
-      return;
-    }
-    iceoryx_publisher->sendChunk(ros_msg);
+    iceoryx_publisher->loan(introspection_ts->size_of_)
+    .and_then(
+      [&, introspection_ts](void * ros_msg) {
+        introspection_ts->init_function(ros_msg, rosidl_runtime_cpp::MessageInitialization::ALL);
+        if (false == deserialize_into(serialized_msg.get(), ts, ros_msg)) {
+          iceoryx_publisher->release(ros_msg);
+        }
+        iceoryx_publisher->publish(ros_msg);
+      })
+    .or_else(
+      [](iox::popo::AllocationError) {
+        RMW_SET_ERROR_MSG("rmw_borrow_loaned_message error!");
+      });
   } else {
     void * ros_msg = malloc(introspection_ts->size_of_);
     introspection_ts->init_function(ros_msg, rosidl_runtime_cpp::MessageInitialization::ALL);
@@ -91,9 +96,12 @@ void publish_to_iceoryx(
       payload_vector);
     free(ros_msg);
 
-    void * chunk = iceoryx_publisher->allocateChunk(payload_vector.size(), true);
-    memcpy(chunk, payload_vector.data(), payload_vector.size());
-    iceoryx_publisher->sendChunk(chunk);
+    iceoryx_publisher->loan(payload_vector.size())
+    .and_then(
+      [&, payload_vector](void * userPayload) {
+        memcpy(userPayload, payload_vector.data(), payload_vector.size());
+        iceoryx_publisher->publish(userPayload);
+      });
   }
 }
 
@@ -114,19 +122,27 @@ bool serialize_into(
 }
 
 void publish_to_ros2(
-  std::shared_ptr<iox::popo::Subscriber> subscriber,
+  std::shared_ptr<iox::popo::UntypedSubscriber> subscriber,
   const rosidl_message_type_support_t * ts,
   std::shared_ptr<iceoryx_ros2_bridge::GenericPublisher> ros2_publisher)
 {
   rclcpp::SerializedMessage serialized_msg;
 
   const void * chunk = nullptr;
-  subscriber->getChunk(&chunk);
+  subscriber->take()
+  .and_then(
+    [&](const void * userPayload) {
+      chunk = userPayload;
+    })
+  .or_else(
+    [](iox::popo::ChunkReceiveResult) {
+      RMW_SET_ERROR_MSG("No chunk in subscriber");
+    });
 
   // ROS2 message is now in chunk. Convert to ROS2 message and then to serialized_message
   if (rmw_iceoryx_cpp::iceoryx_is_fixed_size(ts)) {
     if (false == serialize_into(chunk, ts, &serialized_msg)) {
-      subscriber->releaseChunk(chunk);
+      subscriber->release(chunk);
       return;
     }
   } else {
@@ -144,7 +160,7 @@ void publish_to_ros2(
       ros_msg);
 
     if (false == serialize_into(ros_msg, ts, &serialized_msg)) {
-      subscriber->releaseChunk(chunk);
+      subscriber->release(chunk);
       return;
     }
     introspection_ts->fini_function(ros_msg);
@@ -153,7 +169,7 @@ void publish_to_ros2(
 
   fprintf(stderr, "publishing message\n");
   ros2_publisher->publish(&serialized_msg.get_rcl_serialized_message());
-  subscriber->releaseChunk(chunk);
+  subscriber->release(chunk);
 }
 
 void usage()
@@ -195,14 +211,17 @@ int main(int argc, char ** argv)
     start_parameter_event_publisher(
     false).enable_topic_statistics(false);
   auto node = std::make_shared<rclcpp::Node>(node_name, node_options);
-  iox::runtime::PoshRuntime::getInstance(std::string("/") + node_name);
+  iox::runtime::PoshRuntime::initRuntime(
+    iox::RuntimeName_t(
+      iox::cxx::TruncateToCapacity,
+      node_name));
 
   /*
    * Subscribe to a ROS2 topic and re-publish into iceoryx
    */
   std::vector<std::shared_ptr<iceoryx_ros2_bridge::GenericSubscription>> ros2_subs;
   ros2_subs.reserve(input_topics.size());
-  std::vector<std::shared_ptr<iox::popo::Publisher>> iceoryx_pubs;
+  std::vector<std::shared_ptr<iox::popo::UntypedPublisher>> iceoryx_pubs;
   iceoryx_pubs.reserve(input_topics.size());
 
   rclcpp::sleep_for(2s);  // some room for ros2 discovery
@@ -229,8 +248,9 @@ int main(int argc, char ** argv)
     auto service_desc =
       rmw_iceoryx_cpp::get_iceoryx_service_description(topic, ts);
     iceoryx_pubs.emplace_back(
-      std::make_shared<iox::popo::Publisher>(
-        service_desc, iox::cxx::CString100(iox::cxx::TruncateToCapacity, node_name)));
+      std::make_shared<iox::popo::UntypedPublisher>(
+        service_desc, iox::popo::PublisherOptions{
+      0U, iox::NodeName_t(iox::cxx::TruncateToCapacity, node_name)}));
     iceoryx_pubs.back()->offer();
 
     std::function<void(std::shared_ptr<rclcpp::SerializedMessage>)> cb =
@@ -245,7 +265,7 @@ int main(int argc, char ** argv)
   /*
    * Subscribe to an iceoryx topic and re-publish into ROS2
    */
-  std::vector<std::shared_ptr<iox::popo::Subscriber>> iceoryx_subs;
+  std::vector<std::shared_ptr<iox::popo::UntypedSubscriber>> iceoryx_subs;
   iceoryx_subs.reserve(output_topics.size());
   std::vector<std::shared_ptr<iceoryx_ros2_bridge::GenericPublisher>> ros2_pubs;
 
@@ -275,15 +295,18 @@ int main(int argc, char ** argv)
 
     auto service_desc =
       rmw_iceoryx_cpp::get_iceoryx_service_description(topic, ts);
+    /// @todo karsten1987: find a decent queue size instead of 10
     iceoryx_subs.emplace_back(
-      std::make_shared<iox::popo::Subscriber>(
-        service_desc, iox::cxx::CString100(iox::cxx::TruncateToCapacity, node_name)));
-    iceoryx_subs.back()->subscribe(10);  // TODO(karsten1987): find a decent queue size
+      std::make_shared<iox::popo::UntypedSubscriber>(
+        service_desc, iox::popo::SubscriberOptions{
+      10U, 0U, iox::cxx::string<100>(iox::cxx::TruncateToCapacity, node_name)}));
+    iceoryx_subs.back()->subscribe();
 
     auto cb =
       std::bind(&publish_to_ros2, iceoryx_subs.back(), ts, ros2_pubs.back());
 
-    iceoryx_subs.back()->setReceiveHandler(cb);
+    /// @todo add a listener
+    // iceoryx_subs.back()->setReceiveHandler(cb);
   }
 
   rclcpp::spin(node);

rmw_iceoryx_cpp/CMakeLists.txt

@@ -57,6 +57,7 @@ add_library(rmw_iceoryx_name_conversion SHARED
   src/internal/iceoryx_name_conversion.cpp
   src/internal/iceoryx_type_info_introspection.cpp
   src/internal/iceoryx_topic_names_and_types.cpp
+  src/internal/iceoryx_get_topic_endpoint_info.cpp
 )
 target_include_directories(rmw_iceoryx_name_conversion
   PUBLIC include
@@ -86,11 +87,13 @@ add_library(rmw_iceoryx_cpp SHARED
   src/rmw_guard_condition.cpp
   src/rmw_init.cpp
   src/rmw_logging.cpp
+  src/rmw_network_flow_endpoint.cpp
   src/rmw_node.cpp
   src/rmw_node_info_and_types.cpp
   src/rmw_node_names.cpp
   src/rmw_publish.cpp
   src/rmw_publisher.cpp
+  src/rmw_qos.cpp
   src/rmw_request.cpp
   src/rmw_response.cpp
   src/rmw_serialize.cpp

rmw_iceoryx_cpp/README.md

@@ -2,3 +2,14 @@ RMW_ICEORYX_CPP
 ---------------
 
 C++ implementation of the rmw iceoryx middleware interface.
+
+## test
+
+```sh
+/usr/local/bin/iox-roudi -l verbose
+
+export RMW_IMPLEMENTATION=rmw_iceoryx_cpp
+ros2 run demo_nodes_cpp talker
+ros2 run demo_nodes_cpp listener
+iox-introspection-client --all
+```

rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_deserialize.hpp

@@ -20,7 +20,7 @@ struct rosidl_message_type_support_t;
 namespace rmw_iceoryx_cpp
 {
 
-// TODO(karsten1987): This should be `uint8`, really
+/// @todo karsten1987: This should be `uint8`, really
 void deserialize(
   const char * serialized_msg,
   const rosidl_message_type_support_t * type_supports,