Add rmw_publisher_wait_for_all_acked support #296

Barry-Xu-2018 · 2020-12-24T09:40:08Z

Signed-off-by: Barry Xu Barry.Xu@sony.com

Barry-Xu-2018 · 2020-12-24T09:41:50Z

Related to #295

fujitatomoya

as far as i see, rmw_connext / rmw_fastftps / rmw_cyclonedds all support wait_for_acknowledgments.

rmw/include/rmw/rmw.h

ivanpauno

LGTM!

I've left some minor comments

rmw/include/rmw/rmw.h

ivanpauno

LGTM!

rmw/include/rmw/rmw.h

ivanpauno · 2021-03-26T12:57:16Z

The next step is to complete the implementations for rmw_fastrtps, rmw_cyclonedds, rmw_connextdds.

Barry-Xu-2018 · 2021-03-28T00:52:14Z

The next step is to complete the implementations for rmw_fastrtps, rmw_cyclonedds, rmw_connextdds.

Yeah. I will implement them.

fujitatomoya

i am good to go.

rmw/include/rmw/rmw.h

Barry-Xu-2018 · 2021-04-06T06:33:39Z

After checking some DDS implementations, I think DDS interface should be thread-safe.
So I change the description of Thread-Safe.

ivanpauno

Sorry, we're past the feature freeze so we're not going to be able to merge this.

Holding it until the Galactic release.

Barry-Xu-2018 · 2021-04-16T09:29:22Z

Do rebase.

ivanpauno

LGTM!

ivanpauno · 2021-05-28T20:39:27Z

@Barry-Xu-2018 @fujitatomoya can you run CI, including all the rmw* PRs related to this feature?
Please address the comments in ros2/rmw_connextdds#20 first.

My plan is to get these PRs in first, and then move forward with rcl, rcl* PRs.

fujitatomoya · 2021-05-30T00:44:24Z

@ivanpauno thanks for the effort, really appreciate it.

can you run CI, including all the rmw* PRs related to this feature?

sounds good, we will run CI with rmw_* changes at 1st.

Barry-Xu-2018 · 2021-05-30T00:48:54Z

@ivanpauno

can you run CI, including all the rmw* PRs related to this feature?
Please address the comments in ros2/rmw_connextdds#20 first

Okay. Thanks.

fujitatomoya · 2021-05-30T02:12:27Z

@Barry-Xu-2018

once you addressed ros2/rmw_connextdds#20, could you let me know? i will create the repo file and start CI for rmw_* changes.

Barry-Xu-2018 · 2021-05-30T02:44:18Z

once you addressed ros2/rmw_connextdds#20, could you let me know? i will create the repo file and start CI for rmw_* changes.

Okay，thanks.

Signed-off-by: Barry Xu <Barry.Xu@sony.com>

Signed-off-by: Barry Xu <barry.xu@sony.com>

Barry-Xu-2018 · 2021-05-30T06:11:21Z

Do rebase.

Barry-Xu-2018 · 2021-06-02T01:50:40Z

@fujitatomoya

All changes for rmw* are all approved.
Please help to create the repo file and start CI.

Except this PR, it includes below

rmw_fastrtps
Add rmw_publisher_wait_for_all_acked support rmw_fastrtps#519
rmw_connextdds
Add rmw_publisher_wait_for_all_acked support rmw_connextdds#20
rmw_cyclonedds
Add rmw_publisher_wait_for_all_acked support rmw_cyclonedds#294
rmw_implementation
Add rmw_publisher_wait_for_all_acked rmw_implementation#188

fujitatomoya · 2021-06-02T05:01:54Z

CI: (for rmw related repositories)

Linux
Linux-aarch64
macOS
Windows

Barry-Xu-2018 · 2021-06-02T09:24:38Z

macOS Build Status is failing

After checking the log, the cause seems to remote connection problem.
I have no idea to resolve this. Maybe we should re-execute it.

13:59:18 �]0;colcon build [238/308 done] [3 ongoing]�Starting >>> image_transport
13:59:18 �]0;colcon build [238/308 done] [4 ongoing]�[Processing: image_transport, rclcpp_lifecycle, rosbag2_cpp, tf2_ros]
13:59:48 FATAL: command execution failed
14:07:20 java.nio.channels.ClosedChannelException
14:07:20 	at org.jenkinsci.remoting.protocol.impl.ChannelApplicationLayer.onReadClosed(ChannelApplicationLayer.java:209)
14:07:20 	at org.jenkinsci.remoting.protocol.ApplicationLayer.onRecvClosed(ApplicationLayer.java:221)
14:07:20 	at org.jenkinsci.remoting.protocol.ProtocolStack$Ptr.onRecvClosed(ProtocolStack.java:817)
14:07:20 	at org.jenkinsci.remoting.protocol.FilterLayer.onRecvClosed(FilterLayer.java:288)
14:07:20 	at org.jenkinsci.remoting.protocol.impl.SSLEngineFilterLayer.onRecvClosed(SSLEngineFilterLayer.java:179)
14:07:20 	at org.jenkinsci.remoting.protocol.impl.SSLEngineFilterLayer.switchToNoSecure(SSLEngineFilterLayer.java:281)
14:07:20 	at org.jenkinsci.remoting.protocol.impl.SSLEngineFilterLayer.processWrite(SSLEngineFilterLayer.java:501)
14:07:20 	at org.jenkinsci.remoting.protocol.impl.SSLEngineFilterLayer.processQueuedWrites(SSLEngineFilterLayer.java:246)
14:07:20 	at org.jenkinsci.remoting.protocol.impl.SSLEngineFilterLayer.doSend(SSLEngineFilterLayer.java:198)
14:07:20 	at org.jenkinsci.remoting.protocol.impl.SSLEngineFilterLayer.doCloseSend(SSLEngineFilterLayer.java:211)
14:07:20 	at org.jenkinsci.remoting.protocol.ProtocolStack$Ptr.doCloseSend(ProtocolStack.java:785)
14:07:20 	at org.jenkinsci.remoting.protocol.ApplicationLayer.doCloseWrite(ApplicationLayer.java:172)
14:07:20 	at org.jenkinsci.remoting.protocol.impl.ChannelApplicationLayer$ByteBufferCommandTransport.closeWrite(ChannelApplicationLayer.java:311)
14:07:20 	at hudson.remoting.Channel.close(Channel.java:1502)
14:07:20 	at hudson.remoting.Channel.close(Channel.java:1455)
14:07:20 	at hudson.slaves.SlaveComputer.closeChannel(SlaveComputer.java:884)
14:07:20 	at hudson.slaves.SlaveComputer.access$100(SlaveComputer.java:110)
14:07:20 	at hudson.slaves.SlaveComputer$2.run(SlaveComputer.java:765)
14:07:20 	at jenkins.util.ContextResettingExecutorService$1.run(ContextResettingExecutorService.java:28)
14:07:20 	at jenkins.security.ImpersonatingExecutorService$1.run(ImpersonatingExecutorService.java:68)
14:07:20 	at java.util.concurrent.Executors$RunnableAdapter.call(Executors.java:511)
14:07:20 	at java.util.concurrent.FutureTask.run(FutureTask.java:266)
14:07:20 	at java.util.concurrent.ThreadPoolExecutor.runWorker(ThreadPoolExecutor.java:1149)
14:07:20 	at java.util.concurrent.ThreadPoolExecutor$Worker.run(ThreadPoolExecutor.java:624)
14:07:20 	at java.lang.Thread.run(Thread.java:748)
14:07:20 Caused: hudson.remoting.ChannelClosedException: Channel "hudson.remoting.Channel@52f33c80:JNLP4-connect connection from 70-35-50-58.static.wiline.com/70.35.50.58:62051": Remote call on JNLP4-connect connection from 70-35-50-58.static.wiline.com/70.35.50.58:62051 failed. The channel is closing down or has closed down

fujitatomoya · 2021-06-02T11:56:16Z

CI (macOS):

macOS

fujitatomoya · 2021-06-02T11:56:39Z

@Barry-Xu-2018 i just restarted the CI for macOS.

fujitatomoya · 2021-06-02T22:26:43Z

@ivanpauno appreciate for the help, thanks 👍

Barry-Xu-2018 · 2021-06-03T01:08:05Z

@fujitatomoya @ivanpauno

Thank you.

fujitatomoya requested changes Jan 5, 2021

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clalancette assigned wjwwood Jan 21, 2021

ivanpauno reviewed Mar 25, 2021

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ivanpauno approved these changes Mar 26, 2021

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fujitatomoya approved these changes Mar 28, 2021

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hidmic reviewed Mar 31, 2021

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ivanpauno requested changes Apr 6, 2021

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Barry-Xu-2018 force-pushed the topic-wait_for_all_acked branch from 649ff2c to 4ee4b4b Compare April 16, 2021 09:28

ivanpauno approved these changes May 28, 2021

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Barry-Xu-2018 and others added 5 commits May 30, 2021 13:59

Add rmw_publisher_wait_for_all_acked support

76f28a7

Signed-off-by: Barry Xu <Barry.Xu@sony.com>

Update the description of function based on review comments

dd9be79

Signed-off-by: Barry Xu <barry.xu@sony.com>

Updated description and parameter for interface based on review comments

198a43d

Signed-off-by: Barry Xu <barry.xu@sony.com>

Updated based on review comments

29683f1

Signed-off-by: Barry Xu <barry.xu@sony.com>

Update the description of function

a9a89e5

Signed-off-by: Barry Xu <barry.xu@sony.com>

Barry-Xu-2018 force-pushed the topic-wait_for_all_acked branch from 4ee4b4b to a9a89e5 Compare May 30, 2021 06:10

ivanpauno merged commit 2c58d9a into ros2:master Jun 2, 2021

ivanpauno mentioned this pull request Jun 15, 2021

Add rmw_publisher_wait_for_all_acked support ros2/rmw_cyclonedds#294

Merged

pablogs9 mentioned this pull request Aug 26, 2021

Add rmw_publisher_wait_for_all_acked micro-ROS/rmw_microxrcedds#158

Merged

clalancette mentioned this pull request Apr 29, 2022

ROS 2 Humble needed release notes ros2/ros2_documentation#2446

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Add rmw_publisher_wait_for_all_acked support #296

Add rmw_publisher_wait_for_all_acked support #296

Barry-Xu-2018 commented Dec 24, 2020

Barry-Xu-2018 commented Dec 24, 2020

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Add rmw_publisher_wait_for_all_acked support #296

Add rmw_publisher_wait_for_all_acked support #296

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