Bugfix for rosbag2_cpp serialization converter

[MichaelOrlov]

• This PR will address default rmw-implemented serialization converter failures when deserializing messages from the CDR format with rmw_fastrtps.

• This PR addresses the issue described in the https://github.com/ros2/rosbag2/issues/1815

• RCA and fix proposal please see in the https://github.com/ros2/rosbag2/issues/1815#issuecomment-2367116368

• The fix uses rmw-specific type support for rmw_serilize{deserialize} function calls instead of the introspection type support. Note: It is ok for CycloneDDS and ConnextDDS to use introspection type support for rmw_serilize{deserialize} functions. However, for FastRTPS it must be rmw specific type support. e.g. rosidl_typesupport_cpp. The fix should work for CycloneDDS, ConnextDDS and FastRTPS RMWs.

[MichaelOrlov]

Pulls: ros2/rosbag2#1814 Gist: https://gist.githubusercontent.com/MichaelOrlov/7edb3db78c6c16f382dfbce73551159b/raw/8b648a41eb4c66a65d673f6944b28d3ccb59dd37/ros2.repos BUILD args: --packages-above-and-dependencies rosbag2_cpp TEST args: --packages-above rosbag2_cpp ROS Distro: rolling Job: ci_launcher ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14590

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[MichaelOrlov]

Re-run Windows CI build after an attempt to fix warnings

• Windows

[MichaelOrlov]

@clalancette We are getting a new warning on RHEL build from the

Sanitizers aren't supported by the compiler or environment - disabling

It is from the: https://github.com/ros2/rosbag2/blob/e1c0cf9794868f3bc7929907b27a9d86dc8a57f2/rosbag2_cpp/CMakeLists.txt#L38

This warning appeared because I enabled sanitizer by default and RHEL build doesn't support them for some reason.

Please correct me if I am wrong, but if I understood correctly, merging with such a warning is not acceptable. However, I don't want to remove such a warning at all or disable sanitizers by default on CI.
Meanwhile, I will try to implement a workaround by detecting the RHEL build in CMake and turning the sanitizers off before that check. Please let me know if there are other options for a workaround or solution to those warning.

[clalancette]

Please correct me if I am wrong, but if I understood correctly, merging with such a warning is not acceptable.

Yes, that's correct; we shouldn't merge with that warning.

However, I don't want to remove such a warning at all or disable sanitizers by default on CI.

I have a slightly different suggestion here, which is to not enable sanitizers in this PR. It is not integral to this PR, so I think it should be done separately.

In that separate PR, I think it is fine to skip the sanitizer on RHEL (or just downgrade the WARNING to STATUS), but at least it will be separate and easier to change/revert if we decide to do that later.

[MichaelOrlov]

Okay, I disabled sanitizers by default, as @clalancette suggested. We will enable them and try to workaround the warning on the RHEL build in a separate PR. Rerunning RHEL CI build

• Linux-rhel

[MichaelOrlov]

https://github.com/Mergifyio backport jazzy iron

[mergify[bot]]

backport jazzy iron

✅ Backports have been created

* [#1822 Bugfix for rosbag2_cpp serialization converter (backport #1814)](https://github.com/ros2/rosbag2/pull/1822) has been created for branch `jazzy` * [#1823 Bugfix for rosbag2_cpp serialization converter (backport #1814)](https://github.com/ros2/rosbag2/pull/1823) has been created for branch `iron` but encountered conflicts