Take and return new RMW_DURATION_INFINITE correctly

[emersonknapp]

Depends on ros2/rmw#301

Meets the new API expectations introduced in ros2/rmw#301 - to accept and return RMW_DURATION_INFINITE for cross-implementation consistency.

[emersonknapp]

@asorbini this is probably not worth merging here, right, and should instead go to rmw_connextdds?

[asorbini]

@emersonknapp I can confirm I'd like support for this special value to be added to rmw_connextdds, but I can't really comment on whether it shouldn't be merged to rmw_connext_cpp too. I'm not sure what the plans are for EOL'ing the package, beside phasing it out of the source tree. I'm assuming development will eventually stop, but a maintainer should comment on that.

Feel free to open a PR for rmw_connextdds though, I'd be happy to review/merge.

Keep in mind that @ivanpauno is also working on some changes related to QoS configuration (see rticommunity/rmw_connextdds#7), so you might want to coordinate these additions with him.

[clalancette]

My personal view on this is that the work here is done, so we should just go ahead and merge this. I wouldn't spend much additional time here, given that it is on its way out, but "on its way out" is not the same thing as "gone".

[emersonknapp]

Gist: https://gist.githubusercontent.com/emersonknapp/08a0496aa3726c8053285e6def25ab07/raw/1550d9ed37d12a2824dfb876996e6b09bf6844ba/ros2.repos
BUILD args: --packages-up-to rmw_connext_cpp rcl
TEST args: --packages-select rmw_connext_cpp rcl
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/7857

• Linux
• Linux-aarch64
• macOS
• Windows

[emersonknapp]

^ the rmw_connext packages are being ignored by the build, I guess we've already disabled connext in CI?

[asorbini]

^ the rmw_connext packages are being ignored by the build, I guess we've already disabled connext in CI?

My changes have only made it into a branch of ros2/ci.

I think rmw_connext_cpp was already disabled (as in, completely ignored) for linux-aarch64 and armhf. See this change from my commit for reference.

[emersonknapp]

Oh! You're right it's only on ARM. Never mind then, we can just ignore that build

[clalancette]

@ros-pull-request-builder retest this please

[emersonknapp]

@ahcorde @mjcarroll as maintainers do you have any input on this?

[emersonknapp]

@clalancette friendly ping - should we merge this?

[clalancette]

Sorry, I just noticed one issue with this PR. After that, I'm happy to approve.

[clalancette]

Looks good to me with green CI (which is probably redundant, but I'm being a little more conservative as we approach the Galactic deadline).

[emersonknapp]

• Linux
• Linux-aarch64 (not supported by rmw_connext)
• macOS
• Windows