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Complete events support #583

Merged
merged 14 commits into from
Feb 22, 2022
Merged

Complete events support #583

merged 14 commits into from
Feb 22, 2022

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MiguelCompany
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@MiguelCompany MiguelCompany commented Feb 14, 2022 •
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This replaces #581 and adds support for the three missing events:

  • RMW_EVENT_OFFERED_QOS_INCOMPATIBLE: The interfaces are present and working on Fast DDS.
  • RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE: The interfaces are present and working on Fast DDS.
  • RMW_EVENT_MESSAGE_LOST: The interfaces are present in Fast DDS, but the listener is currently never called.
    This means the RMW will behave as if messages are never lost, until we implement on_sample_lost on Fast DDS v2.6.0.

Connects to ros2/rcl#960, ros2/rclcpp#1887, and ros2/rclpy#895

Closes #356

clalancette and others added 13 commits February 9, 2022 21:38
@clalancette
Add in fake support for the MESSAGE_LOST event.
a565fc8 
Fast-DDS (and rmw_fastrtps_cpp) don't really support this right
now, but having it in the list here allows RViz2 to start up.

Signed-off-by: Chris Lalancette <[email protected]>
@MiguelCompany
Add SubListener::on_sample_lost empty stub.
41ee781 
Signed-off-by: Miguel Company <[email protected]>
@MiguelCompany
Process data inside listener callback.
4ea34a2 
Signed-off-by: Miguel Company <[email protected]>
@MiguelCompany
Add RMW_EVENT_MESSAGE_LOST to hasEvent and takeNextEvent.
657b2a5 
Signed-off-by: Miguel Company <[email protected]>
@MiguelCompany
Remove TODO on rmw_event
492cb46 
Signed-off-by: Miguel Company <[email protected]>
@MiguelCompany
Add SubListener::on_requested_incompatible_qos empty stub.
c1c1c5e 
Signed-off-by: Miguel Company <[email protected]>
@MiguelCompany
Process data inside listener callback.
4780796 
Signed-off-by: Miguel Company <[email protected]>
@MiguelCompany
Add RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE to hasEvent and takeNextEvent.
f2b5a64 
Signed-off-by: Miguel Company <[email protected]>
@MiguelCompany
Translate policy id.
73cb116 
Signed-off-by: Miguel Company <[email protected]>
@MiguelCompany
Add PubListener::on_offered_incompatible_qos empty stub.
ec139a3 
Signed-off-by: Miguel Company <[email protected]>
@MiguelCompany
Process data inside listener callback.
a1f10ff 
Signed-off-by: Miguel Company <[email protected]>
@MiguelCompany
Add RMW_EVENT_OFFERED_QOS_INCOMPATIBLE to hasEvent and takeNextEvent.
e4b2cdd 
Signed-off-by: Miguel Company <[email protected]>
@MiguelCompany
Add incompatible qos events to supported list.
ed84aaa 
Signed-off-by: Miguel Company <[email protected]>
@MiguelCompany MiguelCompany mentioned this pull request Feb 14, 2022
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clalancette commented Feb 14, 2022 •
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Here's CI for this one and ros2/rcl#960 together:

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

fujitatomoya
fujitatomoya approved these changes Feb 14, 2022
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lgtm

@clalancette
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@MiguelCompany Unfortunately there seem to be some failing tests with this.

Besides that, I notice that when running this on my system locally I'm getting a lot of warning messages like:

[WARN] [1644875936.046038886] [test_negotiated_subscription]: New subscription discovered on topic '/parameter_events', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: INVALID_QOS_POLICY

Any thoughts on what might be going on here?

This was referenced Feb 15, 2022
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@clalancette

there seem to be some failing tests with this

I think I have fixed them with ros2/rclcpp#1887, and ros2/rclpy#895 (at least they are passing locally on my windows machine).

when running this on my system locally I'm getting a lot of warning messages

It bothers me that it says INVALID_QOS_POLICY. Would you mind adding a debug message here, so we can check which policy it is complaining about?

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I think I have fixed them with ros2/rclcpp#1887, and ros2/rclpy#895 (at least they are passing locally on my windows machine).

Great, will run another CI with those in place.

It bothers me that it says INVALID_QOS_POLICY. Would you mind adding a debug message here, so we can check which policy it is complaining about?

I'll add this and get back to you.

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New CI:

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

@clalancette
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I'll add this and get back to you.

I added a print there, and it looks like when the warning message is printed, the policy_id that is passed in is 0. It almost looks like the last_policy_id that is being passed-in is always default-constructed, but that is just conjecture.

FYI you should be able to reproduce this easily by building ROS 2 from source and launch rviz2; it always shows up when it starts. Let me know if you need any other information from me.

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according to https://ci.ros2.org/job/ci_linux-aarch64/10785/, rclcpp and rclpy test cases have been resolved but still have the following warnings.

WARN] [1644942222.366270155] [my_ns.my_node]: New subscription discovered on topic 'chatter', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: INVALID
[WARN] [1644942222.367270381] [my_ns.my_node]: New publisher discovered on topic 'chatter', offering incompatible QoS. No messages will be received from it. Last incompatible policy: RELIABILITY

clalancette added a commit that referenced this pull request Feb 16, 2022
@clalancette
Add in support for the MESSAGE_LOST event.
79cc8e8 
Fast-DDS (and rmw_fastrtps_cpp) don't fully support this right
now, but having it in the list here allows RViz2 to start up.

Implementation extracted from
#583, which is the more
complete solution.

Signed-off-by: Chris Lalancette <[email protected]>
@clalancette clalancette mentioned this pull request Feb 16, 2022
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FYI, I've opened #584 just to get the MESSAGE_LOST fix in; we can rebase this on that once it is in.

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@clalancette I was puzzled by the message on this failing test on #584.
How could it be reported that a message was lost?
And it says 0 on both total_count and total_count_change...

And I then realized the new atomic_bool fields were not being initialized.
I added commit 1248647 fixing that.

I hope CI gets green with it!

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clalancette commented Feb 18, 2022 •
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All right, here is another try at CI:

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

@MiguelCompany MiguelCompany mentioned this pull request Feb 18, 2022
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CI is much closer now. There is one failing test on Linux, and Windows still needs to finish building. If we get that one test fixed and Windows gets happy, I think we'll be good here.

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@clalancette we just should change the test. See here

Would you mind changing it yourself?

@MiguelCompany MiguelCompany mentioned this pull request Feb 18, 2022
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@clalancette clalancette mentioned this pull request Feb 18, 2022
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Would you mind changing it yourself?

Yep, done in ros2/ros2cli#694 . Will rerun CI with that in place.

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New CI:

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

@MiguelCompany
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@clalancette I don't think the warnings on aarch64 are related to this...

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@clalancette I don't think the warnings on aarch64 are related to this...

They definitely aren't; they are bug in the version of Eigen in Jammy. With that, this looks really clean, so thanks for the work here! I'm going to go ahead and merge in the whole series.

@clalancette clalancette mentioned this pull request Feb 22, 2022
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@clalancette clalancette merged commit 66926c7 into ros2:master Feb 22, 2022
@MiguelCompany MiguelCompany deleted the feature/rmw_fastrtps/complete-event-support branch February 22, 2022 13:52
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@clalancette Thank you very much!

Do you think this can be backported? Galactic is using the same Fast DDS version as rolling, and 2.1.1 (which is the Fast DDS version on Foxy) also has support for the incompatible QoS callbacks.

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Do you think this can be backported? Galactic is using the same Fast DDS version as rolling, and 2.1.1 (which is the Fast DDS version on Foxy) also has support for the incompatible QoS callbacks.

It looks like it is ABI compatible to me, so I think we could do that. Feel free to open up backport PRs for it, I can review.

timonegk added a commit to timonegk/rmw_fastrtps that referenced this pull request May 20, 2022
@timonegk
Revert "Complete events support (ros2#583)"
92bad18
timonegk pushed a commit to timonegk/ros-rolling-rmw-fastrtps-shared-cpp-release that referenced this pull request May 21, 2022
@hidmic @timonegk
Import Debian changes 6.2.1-1jammy
41927c9 
ros-rolling-rmw-fastrtps-shared-cpp (6.2.1-1jammy) jammy; urgency=high
.
  * Address linter waning for windows. (#592 <ros2/rmw_fastrtps#592>)
  * 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>)
  * Contributors: Chen Lihui, Christophe Bedard, Ivan Santiago Paunovic, Tomoya Fujita
.
ros-rolling-rmw-fastrtps-shared-cpp (6.2.0-1jammy) jammy; urgency=high
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  * Add EventsExecutor (#468 <ros2/rmw_fastrtps#468>)
  * Complete events support (#583 <ros2/rmw_fastrtps#583>)
  * Install headers to include/${PROJECT_NAME} (#578 <ros2/rmw_fastrtps#578>)
  * Change default to synchronous (#571 <ros2/rmw_fastrtps#571>)
  * Contributors: Audrow Nash, Miguel Company, Shane Loretz, iRobot ROS
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ros-rolling-rmw-fastrtps-shared-cpp (6.1.2-1jammy) jammy; urgency=high
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  * Fix cpplint error (#574 <ros2/rmw_fastrtps#574>)
  * Contributors: Jacob Perron
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ros-rolling-rmw-fastrtps-shared-cpp (6.1.1-1jammy) jammy; urgency=high
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  * Fixes for uncrustify 0.72 (#572 <ros2/rmw_fastrtps#572>)
  * Contributors: Chris Lalancette
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ros-rolling-rmw-fastrtps-shared-cpp (6.1.0-1jammy) jammy; urgency=high
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  * Add client/service QoS getters. (#560 <ros2/rmw_fastrtps#560>)
  * Fix QoS depth settings for clients/service being ignored. (#564 <ros2/rmw_fastrtps#564>)
  * Contributors: Chen Lihui, mauropasse
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ros-rolling-rmw-fastrtps-shared-cpp (6.0.0-1jammy) jammy; urgency=high
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  * Update rmw_context_impl_t definition. (#558 <ros2/rmw_fastrtps#558>)
  * Update the LoanManager to do internal locking. (#552 <ros2/rmw_fastrtps#552>)
  * Contributors: Chris Lalancette, Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (5.2.2-1jammy) jammy; urgency=high
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  * Pass the CRL down to Fast-DDS if available. (#546 <ros2/rmw_fastrtps#546>)
  * Contributors: Chris Lalancette
.
ros-rolling-rmw-fastrtps-shared-cpp (5.2.1-1jammy) jammy; urgency=high
.
  * Use the new rmw_dds_common::get_security_files (#544 <ros2/rmw_fastrtps#544>)
  * Support for SubscriptionOptions::ignore_local_publications (#536 <ros2/rmw_fastrtps#536>)
  * Change links from index.ros.org -> docs.ros.org (#539 <ros2/rmw_fastrtps#539>)
  * Contributors: Chris Lalancette, Jose Antonio Moral
.
ros-rolling-rmw-fastrtps-shared-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
.
ros-rolling-rmw-fastrtps-shared-cpp (5.1.0-1jammy) jammy; urgency=high
.
  * 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.
  * Export rmw_dds_common as an rmw_fastrtps_shared_cpp dependency (#530 <ros2/rmw_fastrtps#530>)
  * Update includes after rcutils/get_env.h deprecation (#529 <ros2/rmw_fastrtps#529>)
  * Contributors: Christophe Bedard, Michel Hidalgo, Miguel Company
.
ros-rolling-rmw-fastrtps-shared-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
.
ros-rolling-rmw-fastrtps-shared-cpp (4.5.0-1jammy) jammy; urgency=high
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  * Take and return new RMW_DURATION_INFINITE correctly (#515 <ros2/rmw_fastrtps#515>)
  * Contributors: Emerson Knapp
.
ros-rolling-rmw-fastrtps-shared-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
.
ros-rolling-rmw-fastrtps-shared-cpp (4.3.0-1jammy) jammy; urgency=high
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.
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ros-rolling-rmw-fastrtps-shared-cpp (4.2.0-1jammy) jammy; urgency=high
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  * Make sure to lock the mutex protecting client_endpoints_. (#492 <ros2/rmw_fastrtps#492>)
  * Contributors: Chris Lalancette
.
ros-rolling-rmw-fastrtps-shared-cpp (4.1.0-1jammy) jammy; urgency=high
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  * Use interface whitelist for localhost only (#476 <ros2/rmw_fastrtps#476>)
  * Make use of error return value in decrement_context_impl_ref_count (#488 <ros2/rmw_fastrtps#488>)
  * Remove unnecessary includes (#487 <ros2/rmw_fastrtps#487>)
  * Use new time_utils function to limit rmw_time_t values to 32-bits (#485 <ros2/rmw_fastrtps#485>)
  * New environment variable to change easily the publication mode (#470 <ros2/rmw_fastrtps#470>)
  * Remove unused headers MessageTypeSupport.hpp and ServiceTypeSupport.hpp (#481 <ros2/rmw_fastrtps#481>)
  * Contributors: Jacob Perron, José Luis Bueno López, Michael Jeronimo, Miguel Company, Stephen Brawner
.
ros-rolling-rmw-fastrtps-shared-cpp (4.0.0-1jammy) jammy; urgency=high
.
  * 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_shared_cpp QD.
    * Provide external dependencies QD links.
    * Update rmw_fastrtps_shared_cpp QD: Fast DDS
    * Update README rmw_fastrtps_shared_cpp to QL2
  * Contributors: JLBuenoLopez-eProsima, Jaime Martin Losa, José Luis Bueno López, Michael Jeronimo
.
ros-rolling-rmw-fastrtps-shared-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>)
  * Handle too large QoS queue depths.  (#457 <ros2/rmw_fastrtps#457>)
  * Update rmw_fastrtps_cpp and rmw_fastrtps_shared_cpp QDs to QL2. (#456 <ros2/rmw_fastrtps#456>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (3.1.3-1jammy) jammy; urgency=high
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  * checked client implementation and return RMW_RET_INCORRECT_RMW_IMPLEMENTATION (#451 <ros2/rmw_fastrtps#451>)
  * Update service/client request/response API error returns (#450 <ros2/rmw_fastrtps#450>)
  * Contributors: Alejandro Hernández Cordero, Jose Tomas Lorente
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ros-rolling-rmw-fastrtps-shared-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-shared-cpp (3.1.1-1jammy) jammy; urgency=high
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  * Add tests for RMW QoS to DDS attribute conversion. (#449 <ros2/rmw_fastrtps#449>)
  * Make service/client construction/destruction implementation compliant (#445 <ros2/rmw_fastrtps#445>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-shared-cpp (3.1.0-1jammy) jammy; urgency=high
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  * Inject faults on __rmw_publish() and run_listener_thread() call. (#441 <ros2/rmw_fastrtps#441>)
  * Update gid API return codes. (#440 <ros2/rmw_fastrtps#440>)
  * Update graph API return codes. (#436 <ros2/rmw_fastrtps#436>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (3.0.0-1jammy) jammy; urgency=high
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  * Update rmw_take_serialized() and rmw_take_with_message_info() error returns  (#435 <ros2/rmw_fastrtps#435>)
  * Update rmw_take() error returns (#432 <ros2/rmw_fastrtps#432>)
  * Update rmw_publish() error returns (#430 <ros2/rmw_fastrtps#430>)
  * Update rmw_publish_serialized_message() error returns (#431 <ros2/rmw_fastrtps#431>)
  * Contributors: Jose Tomas Lorente, Lobotuerk
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ros-rolling-rmw-fastrtps-shared-cpp (2.6.0-1jammy) jammy; urgency=high
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  * Improve __rmw_create_wait_set() implementation. (#427 <ros2/rmw_fastrtps#427>)
  * Ensure compliant matched pub/sub count API. (#424 <ros2/rmw_fastrtps#424>)
  * Ensure compliant publisher QoS queries. (#425 <ros2/rmw_fastrtps#425>)
  * Fix memory leak that wait_set might be not destoryed in some case. (#423 <ros2/rmw_fastrtps#423>)
  * Contributors: Chen Lihui, Michel Hidalgo
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ros-rolling-rmw-fastrtps-shared-cpp (2.5.0-1jammy) jammy; urgency=high
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  * Avoid unused identifier variable warnings. (#422 <ros2/rmw_fastrtps#422>)
  * Fix trying to get topic data that was already removed. (#417 <ros2/rmw_fastrtps#417>)
  * Contributors: Chen Lihui, Michel Hidalgo
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ros-rolling-rmw-fastrtps-shared-cpp (2.4.0-1jammy) jammy; urgency=high
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  * Ensure compliant subscription API. (#419 <ros2/rmw_fastrtps#419>)
  * Use package path to TypeSupport.hpp headers in ServiceTypeSupport and MessageTypeSupport (#415 <ros2/rmw_fastrtps#415>)
    Use package in path to TypeSupport header for ServiceTypeSupport/MessageTypeSupport
  * Contributors: Jose Luis Rivero, Michel Hidalgo
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ros-rolling-rmw-fastrtps-shared-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-shared-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-shared-cpp (2.1.0-1jammy) jammy; urgency=high
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  * Add missing thread-safety annotation in ServicePubListener (#409 <ros2/rmw_fastrtps#409>)
  * Ensure compliant node construction/destruction API. (#408 <ros2/rmw_fastrtps#408>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (2.0.0-1jammy) jammy; urgency=high
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  * Update Quality Declarations to QL3. (#404 <ros2/rmw_fastrtps#404>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-shared-cpp (1.1.0-1jammy) jammy; urgency=high
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  * Do not use string literals as implementation identifiers in tests. (#402 <ros2/rmw_fastrtps#402>)
  * Ensure compliant init options API implementations. (#399 <ros2/rmw_fastrtps#399>)
  * Finalize context iff shutdown. (#396 <ros2/rmw_fastrtps#396>)
  * Handle RMW_DEFAULT_DOMAIN_ID. (#394 <ros2/rmw_fastrtps#394>)
  * Make service wait for response reader (#390 <ros2/rmw_fastrtps#390>)
  * Contributors: Michel Hidalgo, Miguel Company
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ros-rolling-rmw-fastrtps-shared-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>)
  * Do not compile assert death tests in Release builds (#393 <ros2/rmw_fastrtps#393>)
  * Add test coverage for name mangling and namespacing-specific API (#388 <ros2/rmw_fastrtps#388>)
  * Add test coverage for GUID utilities (#387 <ros2/rmw_fastrtps#387>)
  * Drop unused TopicCache sources (#386 <ros2/rmw_fastrtps#386>)
  * Add test coverage for rmw_init_options API (#385 <ros2/rmw_fastrtps#385>)
  * Update QDs for 1.0 (#383 <ros2/rmw_fastrtps#383>)
  * Contributors: Chris Lalancette, Michel Hidalgo, Stephen Brawner
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ros-rolling-rmw-fastrtps-shared-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-shared-cpp (0.9.1-1jammy) jammy; urgency=high
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  * Fill service_info timestamps from sample_info (#378 <ros2/rmw_fastrtps#378>)
  * Fix unused variabled warning (#377 <ros2/rmw_fastrtps#377>)
  * Add basic support for security logging plugin (#362 <ros2/rmw_fastrtps#362>)
  * Add package READMEs and QUALITY_DECLARATION files (#375 <ros2/rmw_fastrtps#375>)
  * Added doxyfiles (#372 <ros2/rmw_fastrtps#372>)
  * Contributors: Alejandro Hernández Cordero, Ingo Lütkebohle, Jacob Perron, Kyle Fazzari, brawner
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ros-rolling-rmw-fastrtps-shared-cpp (0.9.0-1jammy) jammy; urgency=high
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  * Feature/services timestamps. (#369 <ros2/rmw_fastrtps#369>)
  * Add support for taking a sequence of messages. (#366 <ros2/rmw_fastrtps#366>)
  * Fill message_info timestamp. (#368 <ros2/rmw_fastrtps#368>)
  * Export targets in a addition to include directories / libraries. (#371 <ros2/rmw_fastrtps#371>)
  * Support for API break on Fast RTPS 2.0. (#370 <ros2/rmw_fastrtps#370>)
  * security-context -> enclave. (#365 <ros2/rmw_fastrtps#365>)
  * Switch to one Participant per Context. (#312 <ros2/rmw_fastrtps#312>)
  * Correct error message when event is not supported. (#358 <ros2/rmw_fastrtps#358>)
  * 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>)
  * Change rmw_topic_endpoint_info_array.count to .size. (#348 <ros2/rmw_fastrtps#348>)
  * Code style only: wrap after open parenthesis if not in one line. (#347 <ros2/rmw_fastrtps#347>)
  * Fix unprotected use of mutex-guarded variable. (#345 <ros2/rmw_fastrtps#345>)
  * 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: Dirk Thomas, Emerson Knapp, Ingo Lütkebohle, Ivan Santiago Paunovic, Jaison Titus, Miaofei Mei, Michael Carroll, Miguel Company, Mikael Arguedas
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ros-rolling-rmw-fastrtps-shared-cpp (0.8.1-1jammy) jammy; urgency=high
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  * Restrict traffic to localhost only if env var is provided (#331 <ros2/rmw_fastrtps#331>)
  * Added new functions which can be used to get rmw_qos_profile_t from WriterQos and ReaderQos (#328 <ros2/rmw_fastrtps#328>)
  * Renamed dds_qos_to_rmw_qos to dds_attributes_to_rmw_qos (#330 <ros2/rmw_fastrtps#330>)
  * Contributors: Brian Marchi, jaisontj
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ros-rolling-rmw-fastrtps-shared-cpp (0.8.0-1jammy) jammy; urgency=high
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  * Correct error message (#320 <ros2/rmw_fastrtps#320>)
  * Return specific error code when node is not found (#311 <ros2/rmw_fastrtps#311>)
  * Correct linter failure (#318 <ros2/rmw_fastrtps#318>)
  * Fix bug in graph API by node (#316 <ros2/rmw_fastrtps#316>)
  * fix method name change from 1.8.1->1.9.0 (#302 <ros2/rmw_fastrtps#302>)
  * Add missing lock guards for discovered_names and discovered_namespaces (#301 <ros2/rmw_fastrtps#301>)
  * Add function for getting clients by node (#293 <ros2/rmw_fastrtps#293>)
  * Enable manual_by_node and node liveliness assertion (#298 <ros2/rmw_fastrtps#298>)
  * Enable assert liveliness on publisher. (#296 <ros2/rmw_fastrtps#296>)
  * Use rcpputils::find_and_replace instead of std::regex_replace (#291 <ros2/rmw_fastrtps#291>)
  * Fix a comparison with a sign mismatch (#288 <ros2/rmw_fastrtps#288>)
  * Implement get_actual_qos() for subscriptions (#287 <ros2/rmw_fastrtps#287>)
  * add missing qos setings in get_actual_qos() (#284 <ros2/rmw_fastrtps#284>)
  * Fix ABBA deadlock.
  * Contributors: Chris Lalancette, Emerson Knapp, Jacob Perron, M. M, Scott K Logan, William Woodall, ivanpauno
.
ros-rolling-rmw-fastrtps-shared-cpp (0.7.3-1jammy) jammy; urgency=high
.
  * Protection of discovered_names and discovered_namespaces (#283 <ros2/rmw_fastrtps#283>)
  * Disable all liveliness until it is actually supported (#282 <ros2/rmw_fastrtps#282>)
  * Contributors: Emerson Knapp, MiguelCompany
.
ros-rolling-rmw-fastrtps-shared-cpp (0.7.2-1jammy) jammy; urgency=high
.
  * fix log_debug typo in rmw_count (#279 <ros2/rmw_fastrtps#279>)
  * Fastrtps18 event callbacks policies (#275 <ros2/rmw_fastrtps#275>)
  * Centralize topic name creation logic and update to match FastRTPS 1.8 API (#272 <ros2/rmw_fastrtps#272>)
  * Contributors: 1r0b1n0, Emerson Knapp, Nick Burek
.
ros-rolling-rmw-fastrtps-shared-cpp (0.7.1-1jammy) jammy; urgency=high
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  * Support arbitrary message namespaces  (#266 <ros2/rmw_fastrtps#266>)
  * Set more correct return values for unimplemented features (#276 <ros2/rmw_fastrtps#276>)
  * Add qos interfaces with no-op (#271 <ros2/rmw_fastrtps#271>)
  * Updates for preallocation API. (#274 <ros2/rmw_fastrtps#274>)
  * Fix logging in rmw_node_info_and_types.cpp (#273 <ros2/rmw_fastrtps#273>)
  * Contributors: Emerson Knapp, Jacob Perron, Michael Carroll, Ross Desmond, Thomas Moulard
.
ros-rolling-rmw-fastrtps-shared-cpp (0.7.0-1jammy) jammy; urgency=high
.
  * Thread safety annotation - minimally intrusive first pass (#259 <ros2/rmw_fastrtps#259>)
  * Add function to get publisher actual qos settings (#267 <ros2/rmw_fastrtps#267>)
  * Fixed race condition between taking sample and updating counter. (#264 <ros2/rmw_fastrtps#264>)
  * Fix cpplint error
  * change count type to size_t to avoid warning (#262 <ros2/rmw_fastrtps#262>)
  * update listener logic for accurate counting (#262 <ros2/rmw_fastrtps#262>)
  * Make sure to include the C++ headers used by these headers. (#256 <ros2/rmw_fastrtps#256>)
  * 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
  * make namespace_prefix header public
  * Use empty() to check for an empty string (#247 <ros2/rmw_fastrtps#247>)
  * We can compare a std::string with a const char* using operator==, simplifies the code (#248 <ros2/rmw_fastrtps#248>)
  * Use empty() instead of size() to check if a vector/map contains elements and fixed some incorrect logging (#245 <ros2/rmw_fastrtps#245>)
  * Fix guard condition trigger error (#235 <ros2/rmw_fastrtps#235>)
  * Contributors: Chris Lalancette, Dirk Thomas, DongheeYe, Emerson Knapp, Jacob Perron, Johnny Willemsen, Ricardo González, William Woodall, ivanpauno
.
ros-rolling-rmw-fastrtps-shared-cpp (0.6.1-1jammy) jammy; urgency=high
.
  * Add topic cache object for managing topic relations (#236 <ros2/rmw_fastrtps#236>)
  * Fix lint: remove trailing whitespace (#244 <ros2/rmw_fastrtps#244>)
  * Fastrtps 1.7.0 (#233 <ros2/rmw_fastrtps#233>)
  * RMW_FastRTPS configuration from XML only (#243 <ros2/rmw_fastrtps#243>)
  * Methods to retrieve matched counts on pub/sub (#234 <ros2/rmw_fastrtps#234>)
  * use uint8_array (#240 <ros2/rmw_fastrtps#240>)
  * Contributors: Jacob Perron, Juan Carlos, Karsten Knese, Michael Carroll, MiguelCompany, Ross Desmond
.
ros-rolling-rmw-fastrtps-shared-cpp (0.6.0-1jammy) jammy; urgency=high
.
  * use new error handling API from rcutils (#231 <ros2/rmw_fastrtps#231>)
  * Add semicolons to all RCLCPP and RCUTILS macros. (#229 <ros2/rmw_fastrtps#229>)
  * separating identity and permission CAs (#227 <ros2/rmw_fastrtps#227>)
  * Include node namespaces in get_node_names (#224 <ros2/rmw_fastrtps#224>)
  * allow builtin reader/writer to reallocate memory if needed (#221 <ros2/rmw_fastrtps#221>)
  * Improve runtime performance of rmw_count_XXX functions (#216 <ros2/rmw_fastrtps#216>) (#217 <ros2/rmw_fastrtps#217>)
  * Merge pull request #218 <ros2/rmw_fastrtps#218> from ros2/pr203
  * Refs #3061 <https://github.com/ros2/rmw_fastrtps/issues/3061>. Leaving common code only on rmw_fastrtps_shared_cpp.
  * Refs #3061 <https://github.com/ros2/rmw_fastrtps/issues/3061>. Package rmw_fastrtps_cpp copied to rmw_fastrtps_shared_cpp.
  * Contributors: Chris Lalancette, Dirk Thomas, Guillaume Autran, Michael Carroll, Miguel Company, Mikael Arguedas, William Woodall
.
ros-rolling-rmw-fastrtps-shared-cpp (0.5.1-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-shared-cpp (0.5.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-shared-cpp (0.4.0-1jammy) jammy; urgency=high
timonegk added a commit to timonegk/rmw_fastrtps that referenced this pull request May 21, 2022
@timonegk
Revert "Complete events support (ros2#583)"
4a8d1de
@timonegk timonegk mentioned this pull request May 21, 2022
Merged
timonegk added a commit to timonegk/rmw_fastrtps that referenced this pull request Jun 8, 2022
@timonegk
Revert "Complete events support (ros2#583)"
92de55d
@mauropasse mauropasse mentioned this pull request Jun 30, 2022
Closed
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@fujitatomoya fujitatomoya fujitatomoya approved these changes

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Add support for Support for ON_REQUESTED/OFFERED_INCOMPATIBLE_QOS events
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@MiguelCompany @clalancette @fujitatomoya