Type hash distribution in discovery (rep2011) - Githubissues

ros2 / rmw_fastrtps

Implementation of the ROS Middleware (rmw) Interface using eProsima's Fast RTPS.

Apache License 2.0

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Type hash distribution in discovery (rep2011) #671

Closed emersonknapp closed 1 year ago

emersonknapp commented 1 year ago

Part of https://github.com/ros2/ros2/issues/1159

Depends on https://github.com/ros2/rmw_dds_common/pull/70 Depends on https://github.com/ros2/rosidl/pull/729

Features:

Retrieve type version hash from generated code, and use the USER_DATA QoS policy to distribute it for all readers/writers. Format of the USER_DATA uses common utility functions in rmw_dds_common
On discovering new endpoints, parse the USER_DATA to set rmw_topic_endpoint_info_t.type_hash

emersonknapp commented 1 year ago

Same run combined for PRs ros2/rmw_dds_common#70 ros2/rmw_fastrtps#671 ros2/rmw_cyclonedds#437 ros2/rmw_connextdds#104

Gist: https://gist.githubusercontent.com/emersonknapp/597121a37b82d9418b14472de760c8f0/raw/b0412d81c2ae2368cb592c810496d6f92650ad68/ros2.repos BUILD args: TEST args: ROS Distro: rolling Job: ci_launcher ci_launcher ran: https://ci.ros2.org/job/ci_launcher/11623

Linux
Linux-aarch64
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emersonknapp commented 1 year ago

Linux
Linux-aarch64
Windows

emersonknapp commented 1 year ago

Gist: https://gist.githubusercontent.com/emersonknapp/c36ca5985030eccbcaac0d0384236fbd/raw/374f6ef848452efc7e6a2b079129195ece75aeec/ros2.repos BUILD args: --packages-above-and-dependencies rmw_dds_common TEST args: --packages-above rmw_dds_common ROS Distro: rolling

Linux
Linux-aarch64
Windows

clalancette commented 1 year ago

CI is in https://github.com/ros2/rmw_dds_common/pull/70#issuecomment-1483326412