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Update rmw_iceoryx for galactic #54

Merged
merged 9 commits into from
Aug 6, 2021
Merged

Update rmw_iceoryx for galactic #54

merged 9 commits into from
Aug 6, 2021

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mossmaurice
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@mossmaurice mossmaurice commented Jul 27, 2021 •
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Done

  • Remove iceoryx repos file as iceoryx is now available in upstream ROS 2
  • Adhere to new galactic APIs
  • Refactor type support calls and remove code duplication

What's working

  • Talker/Listener demo
  • Basic ros2 command line support

What's not working/ known limitations

  • RMW_IMPLEMENTATION=rmw_iceoryx_cpp ros2 topic echo /chatter

Closes #48

@mossmaurice
ros2#48 Remove additional repos file as iceoryx is now available in u…
35682ee 
…pstream ROS 2

Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>
@mossmaurice
ros2#48 Adhere rmw_iceoryx to galactic APIs
a4f9429 
Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>
@mossmaurice mossmaurice self-assigned this Jul 27, 2021
@mossmaurice mossmaurice linked an issue Jul 27, 2021 that may be closed by this pull request
Update rmw_iceoryx to support ROS 2 Galactic #48
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@mossmaurice mossmaurice changed the title Update rmw for galactic Update rmw_iceoryx for galactic Jul 27, 2021
@mossmaurice mossmaurice mentioned this pull request Jul 27, 2021
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@ZhenshengLee Could you have a look at this pull request?

ZhenshengLee
ZhenshengLee approved these changes Jul 27, 2021
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Good to me.

@mossmaurice
ros2#48 Remove iceoryx packages from CI build and let colcon find the…
7048292 
… dependecy

Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>
dkroenke
dkroenke reviewed Jul 27, 2021
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.github/workflows/main.yml Outdated
target-ros2-distro: foxy
vcs-repo-file-url: |
./.github/workflows/additional_repos.repos
package-name: iceoryx_utils iceoryx_posh rmw_iceoryx_cpp iceoryx_ros2_bridge
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Suggested change
package-name: iceoryx_utils iceoryx_posh rmw_iceoryx_cpp iceoryx_ros2_bridge
package-name: rmw_iceoryx_cpp iceoryx_ros2_bridge

@christophebedard
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christophebedard commented Jul 28, 2021 •
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What's not working/ known limitations

>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

  'Handle's typesupport identifier (rosidl_typesupport_c) is not supported by this library, at /home/simon.hoinkis/ros2_galactic_ade/src/ros2/rosidl_typesupport/rosidl_typesupport_c/src/type_support_dispatch.hpp:113'

with this new error message:

  'Handle's typesupport identifier (rosidl_typesupport_cpp) is not supported by this library, at /home/simon.hoinkis/ros2_galactic_ade/src/ros2/rosidl_typesupport/rosidl_typesupport_cpp/src/type_support_dispatch.hpp:111'

rcutils_reset_error() should be called after error handling to avoid this.

I just recently found the "solution" for this case of an error message being overwritten, so I thought I'd mention it. Currently, if get_message_typesupport_handle() returns a nullptr, it sets an error message, so you're expected to call rcutils_reset_error(). Example: https://github.com/ros2/rmw_connextdds/pull/22/files#diff-8310735a1b9a2eb25a4d85563c1a1862ca08f0243488ac9867c76a7ae7d9ed01

It looks like this behaviour may change at some point though: ros2/rosidl_typesupport#102

@mossmaurice
ros2#48 Wrap get_message_typesupport_handle(), remove duplicate error…
b73c4b8 
… handling and reset error

Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>
@mossmaurice
ros2#48 Add empty implementations for new rmw galactic API calls
a52c36b 
Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>
@mossmaurice
ros2#48 Update copyright info in headers
70a4db5 
Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>
@mossmaurice
ros2#48 Try to fix CI build
d71e511 
Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>
@mossmaurice
ros2#48 Remove empty line in license header
c885817 
Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>
@mossmaurice
ros2#48 Add missing include for std::pair
72c572a 
Signed-off-by: Simon Hoinkis <simon.hoinkis@apex.ai>
@mossmaurice
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@jeising Would you mind doing a review of the changes? Thanks in advance!

@mossmaurice mossmaurice mentioned this pull request Jul 29, 2021
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ZhenshengLee
ZhenshengLee approved these changes Jul 29, 2021
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much of work about checking typesupport, nice!

@mossmaurice mossmaurice mentioned this pull request Jul 30, 2021
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@mossmaurice mossmaurice added the enhancement New feature or request label Jul 30, 2021
jeising
jeising approved these changes Aug 4, 2021
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@mossmaurice mossmaurice merged commit 4bfa27f into ros2:galactic Aug 6, 2021
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@Karsten1987 Could you please set the default branch for this repository to the branch galactic? Cheers and have a nice weekend!

@mossmaurice mossmaurice deleted the update-rmw-for-galactic branch August 6, 2021 18:15
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@jeising jeising jeising approved these changes

@dkroenke dkroenke dkroenke left review comments

@ZhenshengLee ZhenshengLee ZhenshengLee approved these changes

@budrus budrus budrus approved these changes

@Karsten1987 Karsten1987 Awaiting requested review from Karsten1987

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Update rmw_iceoryx to support ROS 2 Galactic
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@mossmaurice @christophebedard @Karsten1987 @ZhenshengLee @jeising @dkroenke @budrus