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ros2 / rmw_fastrtps

Implementation of the ROS Middleware (rmw) Interface using eProsima's Fast RTPS.
Apache License 2.0
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Backward compatability when adding fields to an existing msg #620

Closed TamarYi closed 2 years ago

TamarYi commented 2 years ago

Bug report

Operating System: Ubuntu 20.04 64b

Installation type:

Version or commit hash: 5.0.2

DDS implementation: Fast-RTPS

Steps to reproduce issue: 1) Create a topic with X fields 2) Compile for the publisher 3) Add another field to the topic 4) Compile the subscriber 5) "Listen" to the topic 6) Publish the topic

Expected behavior: In a different RMW the subscriber receives the full message with the full list of the fields (X+1) when the last field is set to 0

Actual behavior: Message is published but the subscriber doesn't receive the message

clalancette commented 2 years ago

We have a draft design PR open on how to do this over in https://github.com/ros-infrastructure/rep/pull/358 . It's going to be a big change, so I'm not sure when we'll get it in. Regardless, I'm going to close this as a duplicate of that in-progress work.