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ros2 / rmw_fastrtps

Implementation of the ROS Middleware (rmw) Interface using eProsima's Fast RTPS.
Apache License 2.0
157 stars 117 forks source link

[Humble] Use Fast-DDS Waitsets instead of listeners (backport #619) #633

Closed MiguelCompany closed 2 years ago

MiguelCompany commented 2 years ago

Signed-off-by: Miguel Company MiguelCompany@eprosima.com

fujitatomoya commented 2 years ago

CI(Full build and test with rmw_fastrtps only): https://gist.githubusercontent.com/fujitatomoya/635b829c55226943225a7669b61a0cfd/raw/c860c9ae967778906b6ad848cb82d783fae8e5ea/ros2.repos

ivanpauno commented 2 years ago

why do we need to bakcport this? It's a huge change, I don't think it needs to be backported

MiguelCompany commented 2 years ago

why do we need to bakcport this? It's a huge change, I don't think it needs to be backported

The change is big, yes. But it fixes several issues on the default RMW, like the ones listed here and here.

According to our testing, it also improves the overall behavior regarding discovery and services.

alsora commented 2 years ago

+1 on merging this. If we don't backport it, a lot of users will likely have to build from sources and cherry-pick it as this fixes critical bugs.

fujitatomoya commented 2 years ago

a couple of CI failure are unrelated, ready to merge with 2nd review.

audrow commented 2 years ago

Here's another run of CI, just to make sure.

audrow commented 2 years ago

The Windows gets the same CI warning as in @fujitatomoya's previous run, so I'm going to merge.

MiguelCompany commented 2 years ago

@audrow When will this be available on binaries?

MiguelCompany commented 2 years ago

@audrow When will this be available on binaries?

@audrow @clalancette could a release of rwm_fastrps_cpp be done any time soon?