Merge branch 'master' into dds-security

.github/workflows/CI.yml

@@ -0,0 +1,28 @@
+name: ROS2 CI
+on: [push, pull_request]
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+          rosdistro: [dashing, eloquent, master]
+          os: [ubuntu-18.04, macOS-latest, windows-latest]
+          exclude:
+            # pending https://github.com/ament/ament_cmake/pull/233
+            - rosdistro: eloquent
+              os: windows-latest
+            # pending https://github.com/ament/ament_cmake/pull/234
+            - rosdistro: dashing
+              os: windows-latest
+    runs-on: ${{ matrix.os }}
+    steps:
+    - if: runner.os == 'Linux'
+      # azure ubuntu repo can be flaky so add an alternate source
+      run: sed -e 's/azure.archive.ubuntu.com/us.archive.ubuntu.com/g' -e t -e d /etc/apt/sources.list | sudo tee /etc/apt/sources.list.d/nonazure.list
+    - name: Acquire ROS dependencies
+      uses: ros-tooling/setup-ros@0.0.15
+    - name: Build and test ROS
+      uses: ros-tooling/action-ros-ci@0.0.14
+      with:
+        package-name: rmw_cyclonedds_cpp
+        vcs-repo-file-url: https://raw.githubusercontent.com/ros2/ros2/${{ matrix.rosdistro }}/ros2.repos

README.md

@@ -1,34 +1,37 @@
-# A ROS2 RMW implementation for Eclipse Cyclone DDS
+# ROS2 RMW for Eclipse Cyclone DDS
 
-With the code in this repository, it is possible to use [*ROS2*](https://index.ros.org/doc/ros2)
-with [*Eclipse Cyclone DDS*](https://github.com/eclipse-cyclonedds/cyclonedds) as the underlying DDS
-implementation.
+**Easy, fast, reliable, small [Eclipse Cyclone DDS](https://github.com/eclipse-cyclonedds/cyclonedds) middleware** for ROS2. Make your **🐢 run like a 🚀** [Eclipse Cyclone DDS has great adopters](https://iot.eclipse.org/adopters/) and contributors in the ROS community and is an [Eclipse Foundation](https://www.eclipse.org) open source project of [Eclipse IoT](https://iot.eclipse.org) and [OpenADx](https://openadx.eclipse.org) (autonomous driving).
 
-## Getting, building and using it
+This package lets [*ROS2*](https://index.ros.org/doc/ros2) use [*Eclipse Cyclone DDS*](https://github.com/eclipse-cyclonedds/cyclonedds) as the underlying DDS implementation.
+Cyclone DDS is ready to use. It seeks to give the fastest, easiest, and most robust ROS2 experience. Let the Cyclone blow you away!
 
-All it takes to get Cyclone DDS support into ROS2 is to clone this repository into the ROS2 workspace
-source directory, and then run colcon build in the usual manner:
+1. Install:
 
-    cd ros2_ws/src
-    git clone https://github.com/ros2/rmw_cyclonedds
-    git clone https://github.com/eclipse-cyclonedds/cyclonedds
-    cd ..
+  ```
+  apt install ros-eloquent-rmw-cyclonedds-cpp
+  ```
+  or
+  ```
+  apt install ros-dashing-rmw-cyclonedds-cpp
+  ```
+
+2) Set env variable and run ROS2 apps as usual:
+
+  ```export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp```
+
+3) Confirm RMW: In Eloquent, to confirm which RMW you're using:
+
+   ```ros2 doctor --report```
+
+
+## Building from source and contributing
+
+
+Note the `master` branch maintains compatibility with ROS releases Dashing and later, including the not-yet-released [*Foxy*](https://index.ros.org/doc/ros2/Releases/Release-Foxy-Fitzroy/).
+
+If building ROS2 from source ([ros2.repos](https://github.com/ros2/ros2/blob/master/ros2.repos)), you already have this package and Cyclone DDS:
+
+    cd /opt/ros/master
     rosdep install --from src -i
     colcon build
     export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
-This seems to work fine on Linux with a binary ROS2 installation as well as when building ROS2 from
-source.  On macOS it has only been tested in a source build on a machine in an "unsupported"
-configuration (macOS 10.14 with SIP enabled, instead of 10.12 with SIP disabled), and apart from a
-few details that are caused by the machine configuration, that works fine, too.  There is no reason
-why it wouldn't work the same on Windows, but I haven't tried.
-
-If you want to use a pre-existing installation of Cyclone DDS, you don't need to clone it, but you
-may have to tell CMake where to look for it using the `CycloneDDS_DIR` variable.  That also appears
-to be the case if there are other packages in the ROS2 workspace that you would like to use Cyclone
-DDS directly instead of via the ROS2 abstraction.
-
-## Known limitations
-
-Cyclone DDS doesn't yet fully implement the Lifespan, Deadline and some of the Liveliness QoS modes.
-Consequently these features of ROS2 are also not yet supported when using Cyclone DDS.

rmw_cyclonedds_cpp/src/TypeSupport2.hpp

@@ -245,6 +245,9 @@ public:
   }
   const void * sequence_contents(const void * ptr_to_sequence) const override
   {
+    if (sequence_size(ptr_to_sequence) == 0) {
+      return nullptr;
+    }
     return m_get_const_function(ptr_to_sequence, 0);
   }
 };

rmw_cyclonedds_cpp/src/rmw_node.cpp

@@ -35,14 +35,14 @@
 #include "rmw/allocators.h"
 #include "rmw/convert_rcutils_ret_to_rmw_ret.h"
 #include "rmw/error_handling.h"
-#include "rmw/names_and_types.h"
+#include "rmw/event.h"
+#include "rmw/get_node_info_and_types.h"
 #include "rmw/get_service_names_and_types.h"
 #include "rmw/get_topic_names_and_types.h"
-#include "rmw/get_node_info_and_types.h"
-#include "rmw/event.h"
-#include "rmw/validate_node_name.h"
+#include "rmw/names_and_types.h"
 #include "rmw/rmw.h"
 #include "rmw/sanity_checks.h"
+#include "rmw/validate_node_name.h"
 
 #include "Serialization.hpp"
 #include "rmw/impl/cpp/macros.hpp"
@@ -55,6 +55,7 @@
 
 #if RMW_VERSION_GTE(0, 8, 2)
 #include "rmw/get_topic_endpoint_info.h"
+#include "rmw/incompatible_qos_events_statuses.h"
 #include "rmw/topic_endpoint_info_array.h"
 #endif
 
@@ -1326,6 +1327,28 @@ static dds_qos_t * create_readwrite_qos(
   return qos;
 }
 
+#if RMW_VERSION_GTE(0, 8, 2)
+static rmw_qos_policy_kind_t dds_qos_policy_to_rmw_qos_policy(dds_qos_policy_id_t policy_id)
+{
+  switch (policy_id) {
+    case DDS_DURABILITY_QOS_POLICY_ID:
+      return RMW_QOS_POLICY_DURABILITY;
+    case DDS_DEADLINE_QOS_POLICY_ID:
+      return RMW_QOS_POLICY_DEADLINE;
+    case DDS_LIVELINESS_QOS_POLICY_ID:
+      return RMW_QOS_POLICY_LIVELINESS;
+    case DDS_RELIABILITY_QOS_POLICY_ID:
+      return RMW_QOS_POLICY_RELIABILITY;
+    case DDS_HISTORY_QOS_POLICY_ID:
+      return RMW_QOS_POLICY_HISTORY;
+    case DDS_LIFESPAN_QOS_POLICY_ID:
+      return RMW_QOS_POLICY_LIFESPAN;
+    default:
+      return RMW_QOS_POLICY_INVALID;
+  }
+}
+#endif
+
 static bool dds_qos_to_rmw_qos(const dds_qos_t * dds_qos, rmw_qos_profile_t * qos_policies)
 {
   assert(dds_qos);
@@ -2023,6 +2046,10 @@ static const std::unordered_map<rmw_event_type_t, uint32_t> mask_map{
   {RMW_EVENT_REQUESTED_DEADLINE_MISSED, DDS_REQUESTED_DEADLINE_MISSED_STATUS},
   {RMW_EVENT_LIVELINESS_LOST, DDS_LIVELINESS_LOST_STATUS},
   {RMW_EVENT_OFFERED_DEADLINE_MISSED, DDS_OFFERED_DEADLINE_MISSED_STATUS},
+#if RMW_VERSION_GTE(0, 8, 2)
+  {RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE, DDS_REQUESTED_INCOMPATIBLE_QOS_STATUS},
+  {RMW_EVENT_OFFERED_QOS_INCOMPATIBLE, DDS_OFFERED_INCOMPATIBLE_QOS_STATUS},
+#endif
 };
 
 static bool is_event_supported(const rmw_event_type_t event_t)
@@ -2116,6 +2143,25 @@ extern "C" rmw_ret_t rmw_take_event(
         }
       }
 
+#if RMW_VERSION_GTE(0, 8, 2)
+    case RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE: {
+        auto ei = static_cast<rmw_requested_qos_incompatible_event_status_t *>(event_info);
+        auto sub = static_cast<CddsSubscription *>(event_handle->data);
+        dds_requested_incompatible_qos_status_t st;
+        if (dds_get_requested_incompatible_qos_status(sub->enth, &st) < 0) {
+          *taken = false;
+          return RMW_RET_ERROR;
+        } else {
+          ei->total_count = static_cast<int32_t>(st.total_count);
+          ei->total_count_change = st.total_count_change;
+          ei->last_policy_kind = dds_qos_policy_to_rmw_qos_policy(
+            static_cast<dds_qos_policy_id_t>(st.last_policy_id));
+          *taken = true;
+          return RMW_RET_OK;
+        }
+      }
+#endif
+
     case RMW_EVENT_LIVELINESS_LOST: {
         auto ei = static_cast<rmw_liveliness_lost_status_t *>(event_info);
         auto pub = static_cast<CddsPublisher *>(event_handle->data);
@@ -2146,6 +2192,25 @@ extern "C" rmw_ret_t rmw_take_event(
         }
       }
 
+#if RMW_VERSION_GTE(0, 8, 2)
+    case RMW_EVENT_OFFERED_QOS_INCOMPATIBLE: {
+        auto ei = static_cast<rmw_offered_qos_incompatible_event_status_t *>(event_info);
+        auto pub = static_cast<CddsPublisher *>(event_handle->data);
+        dds_offered_incompatible_qos_status_t st;
+        if (dds_get_offered_incompatible_qos_status(pub->enth, &st) < 0) {
+          *taken = false;
+          return RMW_RET_ERROR;
+        } else {
+          ei->total_count = static_cast<int32_t>(st.total_count);
+          ei->total_count_change = st.total_count_change;
+          ei->last_policy_kind = dds_qos_policy_to_rmw_qos_policy(
+            static_cast<dds_qos_policy_id_t>(st.last_policy_id));
+          *taken = true;
+          return RMW_RET_OK;
+        }
+      }
+#endif
+
     case RMW_EVENT_INVALID: {
         break;
       }