Remove topic partitions #192

rohitsalem · 2018-03-23T20:02:33Z

connects to ros2/ros2#476
To use the topic/service name directly without using the partitions.

dirk-thomas · 2018-03-23T20:17:37Z

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rohitsalem · 2018-03-28T02:56:24Z

Linux
Linux-aarch64
macOS
Windows

rohitsalem · 2018-03-28T20:45:59Z

Connects to the issue ros2/ros2#476

mikaelarguedas · 2018-03-28T20:50:16Z

@rohitsalem if you want the issues/PRs to be connected on waffle, you need to put it the "connects to " sentence in the description of the issue (the first comment) as waffle doesn't parse all the comments. It also needs to be the github representation of the link and not the full link.
You can find more details on the waffle section of the onboarding guide

rohitsalem · 2018-03-28T21:01:53Z

@mikaelarguedas thanks for letting me know! edited my first comment on this PR

mikaelarguedas · 2018-03-28T21:08:21Z

You're welcome, note that you don't need to explicitly provide the full link, Github will recognize ros2/ros2#476 and link to https://github.com/ros2/ros2/issues/476 automatically

rohitsalem · 2018-03-28T21:11:28Z

Yeah, got it. That way I thought it would be easier for someone to navigate to the issue from here.

rohitsalem · 2018-04-03T21:35:35Z

Linux:
Linux-aarch64:
macOS:
Windows:

mikaelarguedas · 2018-04-03T21:36:32Z

rmw_fastrtps_cpp/src/rmw_client.cpp

-  if (ret != RCUTILS_RET_OK) {
-    // error msg already set
-    goto fail;
+  if (!qos_policies->avoid_ros_namespace_conventions){


Style: Indentation and spacing seems to not be matching the guidelines. You can find style violations by running the tests of the package locally

Thanks for the catch. I've updated it in this commit 0a516ea

mikaelarguedas · 2018-04-03T21:38:29Z

rmw_fastrtps_cpp/src/rmw_client.cpp

-    // error msg already set
-    goto fail;
+  if (!qos_policies->avoid_ros_namespace_conventions){
+  subscriberParam.topic.topicName = std::string(ros_service_response_prefix) + service_name;


I think there should be a "/" used to separate the ros prefix and the service/topic name (at least that's what the code in https://github.com/ros2/rmw_fastrtps/pull/192/files#diff-0ce60ac271e069c6686c50d38559e0a5L42 was doing for the string.
e.g. ROS topic foo => DDS topic rt/foo

The code in https://github.com/ros2/rmw_fastrtps/pull/192/files#diff-0ce60ac271e069c6686c50d38559e0a5L42 is first extracting the base topic_name from the whole topic name (which includes the namespaces), by taking whatever is there after the last '/'. And then re-adding prefix to the base topic_name along with '/'. So it will have ros prefix + '/' + base name. But I guess here the default(complete) topic name which we receive will have a "/", isn't it? example: we will have /chatter by default rather than chatter, otherwise I'll have add a check to check if there is a / by default or not and then add it to the topic name.

But I guess here the default(complete) topic name which we receive will have a "/", isn't it?

Apparently if called from rcl, it always has a leading forward slash as rcl enforces it before passing the name to rmw.

Not sure if we can make that assumption for people calling rmw API directly though.
So my guess (maybe someone from @ros2/team more familiar with the matter can pitch in) is that, if avoid_ros_namespace_conventions is false, we should check for the presence of the slash and add it if needed.
If avoid_ros_namespace_conventions is true, we should not modify the name and let user creat topics with the nam he specified.

By the time it is passed into rmw all topics will be fully qualified, which includes a leading /.

By the time it is passed into rmw all topics will be fully qualified

I agree with that, I was just wondering if it's safe to make this assumption here for people calling this API directly (and not via rcl).
I guess the goal here is to avoid adding the namespace prefix but still assume ROS naming conventions are respected. Does that mean that there is no way to subscribe to a DDS topic named e.g. "image" using this API ? only "/image" ?

So basically, prefix with rt__ or w/e if avoid_ros_namespace_conventions is true, otherwise do nothing to the topic name.

Sounds good to me

Even if you were to strip leading / when avoid_ros_namespace_conventions is true, you still would not be able to specify a partition name.

Fair enough.

Ideally people could use whatever is exposed in the API, in this case we don't expose partitions to users, so users would only be able to be matched with a topic that has matching QoS (so only if empty partitions on both sides).
We can definitely postpone the discussion on how to enable users to subscribe to pure DDS topics 👍

So are we deciding on leaving it as is? This will affect the topic names coming in the future which don't start with a "/". Or some remapping might be required to append a "/' for those topic or service names.

As we don't have any currently supported use case where the topic will not enter this function without a leading slash we keep it as is for now 👍 . If the use case comes up we'll adapt the behavior.

I was thinking about this more, and I suppose we could choose to pass the unexpanded topic name directly to the rmw layer if the avoid_ros_namespace_conventions is set to true.

For example, we currently:

pass topic name into rcl_create_publisher() (for example), e.g. image

expand topic name with rcl_expand_topic_name(), e.g. image -> /image

store expanded topic name in publisher.topic_name

pass publisher.topic_name to rmw_create_publisher()

And instead, iff avoid_ros_namespace_conventions is true we could:

pass topic name into rcl_create_publisher() (for example), e.g. image

~~expand topic name with rcl_expand_topic_name(), e.g. image -> /image~~

store ~~expanded~~ topic name in publisher.topic_name

pass publisher.topic_name to rmw_create_publisher()

rmw_create_publisher() would also not prefix with the ROS prefix

The only thing I'd be worried about is what does rcl_publisher_get_topic_name() return? The expanded topic name or the one used in rmw_create_publisher()?

I don't mean to delay this pull request, but I think we need to resolve this and update the design doc before committing to changes in the source.

Agreed.
I suggest letting this set of PRs move forward and have first an update to the design doc to remove the partitions and describe the new behavior from from this set of PRs in the "ROS case" (reported on the parent issue.
We can have a separate discussion regarding what should happen in the "avoid_ros_namespace_conventions" case, update the design doc and propose code changes once design doc approved.

mikaelarguedas · 2018-04-05T22:25:08Z

rmw_fastrtps_cpp/src/rmw_client.cpp

@@ -20,10 +20,8 @@
 #include "rmw/rmw.h"

 #include "rosidl_typesupport_introspection_cpp/identifier.hpp"
-


Nitpick: Change unrelated to this PR. As we have an empty line between all include statements that come from different packages, I think this should stay.

I saw that there was no vertical spacing in rmw_service.cpp , changed it here too. I'll change this in both files.

Karsten1987

minor comment.

Karsten1987 · 2018-04-18T23:24:11Z

rmw_fastrtps_cpp/src/rmw_service_server_is_available.cpp

-  }
-  auto pub_fqdn = pub_partitions[0] + "/" + pub_topic_name;
+
+  auto pub_fqdn = pub_topic_name;


this variable is not necessary anymore, is it?

Karsten1987 · 2018-04-18T23:24:49Z

rmw_fastrtps_cpp/src/rmw_service_server_is_available.cpp

-  }
-  auto pub_fqdn = pub_partitions[0] + "/" + pub_topic_name;
+
+  auto pub_fqdn = pub_topic_name;
  pub_fqdn = _demangle_if_ros_topic(pub_fqdn);


you can pass directly the outcome of getTopicName() in it.

Karsten1987 · 2018-04-18T23:25:07Z

rmw_fastrtps_cpp/src/rmw_service_server_is_available.cpp

-  }
-  auto sub_fqdn = sub_partitions[0] + "/" + sub_topic_name;
+
+  auto sub_fqdn = sub_topic_name;


same as above

mikaelarguedas

lgtm 👍

Removed assign_partitions.hpp header trial: removal of topic partitions from services and client Modified readerinfo, writerinfo and added prefix to the topic names.

minor style changes Delete assign_partitions.hpp and removed anything related to partitons re-adding avoid_ros_namespace_conventions check for prefixing names Corrected indentation Added vertical space between the headers

ros-rolling-rmw-fastrtps-cpp (6.2.1-1jammy) jammy; urgency=high . * Add pub/sub init, publish and take instrumentation using tracetools (#591 <ros2/rmw_fastrtps#591>) * Add content filter topic feature (#513 <ros2/rmw_fastrtps#513>) * Add sequence numbers to message info structure (#587 <ros2/rmw_fastrtps#587>) * Removed some heap interactions in rmw_serialize.cpp (#590 <ros2/rmw_fastrtps#590>) * Contributors: Chen Lihui, Christophe Bedard, Ivan Santiago Paunovic, WideAwakeTN . ros-rolling-rmw-fastrtps-cpp (6.2.0-1jammy) jammy; urgency=high . * Add EventsExecutor (#468 <ros2/rmw_fastrtps#468>) * Install headers to include/${PROJECT_NAME} (#578 <ros2/rmw_fastrtps#578>) * Contributors: Shane Loretz, iRobot ROS . ros-rolling-rmw-fastrtps-cpp (6.1.2-1jammy) jammy; urgency=high . . . ros-rolling-rmw-fastrtps-cpp (6.1.1-1jammy) jammy; urgency=high . . . ros-rolling-rmw-fastrtps-cpp (6.1.0-1jammy) jammy; urgency=high . * Add client/service QoS getters. (#560 <ros2/rmw_fastrtps#560>) * Contributors: mauropasse . ros-rolling-rmw-fastrtps-cpp (6.0.0-1jammy) jammy; urgency=high . . . ros-rolling-rmw-fastrtps-cpp (5.2.2-1jammy) jammy; urgency=high . * Correctly recalculate serialized size on bounded sequences. (#540 <ros2/rmw_fastrtps#540>) * Fix type size alignment. (#550 <ros2/rmw_fastrtps#550>) * Contributors: Miguel Company . ros-rolling-rmw-fastrtps-cpp (5.2.1-1jammy) jammy; urgency=high . * Change links from index.ros.org -> docs.ros.org (#539 <ros2/rmw_fastrtps#539>) * Contributors: Chris Lalancette . ros-rolling-rmw-fastrtps-cpp (5.2.0-1jammy) jammy; urgency=high . * Add rmw_publisher_wait_for_all_acked support. (#519 <ros2/rmw_fastrtps#519>) * Contributors: Barry Xu . ros-rolling-rmw-fastrtps-cpp (5.1.0-1jammy) jammy; urgency=high . * Loan messages implementation (#523 <ros2/rmw_fastrtps#523>) * Added is_plain_ attribute to base TypeSupport. * Added new methods to base TypeSupport. * Implementation of rmw_borrow_loaned_message. * Implementation of rmw_return_loaned_message_from_publisher. * Enable loan messages on publishers of plain types. * Implementation for taking loaned messages. * Enable loan messages on subscriptions of plain types. * Contributors: Miguel Company . ros-rolling-rmw-fastrtps-cpp (5.0.0-1jammy) jammy; urgency=high . * Refactor to use DDS standard API (#518 <ros2/rmw_fastrtps#518>) * Unique network flows (#502 <ros2/rmw_fastrtps#502>) * updating quality declaration links (re: ros2/docs.ros2.org#52 <ros2/docs.ros2.org#52>) (#520 <ros2/rmw_fastrtps#520>) * Contributors: Miguel Company, shonigmann . ros-rolling-rmw-fastrtps-cpp (4.5.0-1jammy) jammy; urgency=high . . . ros-rolling-rmw-fastrtps-cpp (4.4.0-1jammy) jammy; urgency=high . * Add RMW function to check QoS compatibility (#511 <ros2/rmw_fastrtps#511>) * Capture cdr exceptions (#505 <ros2/rmw_fastrtps#505>) * Contributors: Jacob Perron, Miguel Company . ros-rolling-rmw-fastrtps-cpp (4.3.0-1jammy) jammy; urgency=high . * Load profiles based on topic names (#335 <ros2/rmw_fastrtps#335>) * Set rmw_dds_common::GraphCache callback after init succeeds. (#496 <ros2/rmw_fastrtps#496>) * Handle typesupport errors on fetch. (#495 <ros2/rmw_fastrtps#495>) * Contributors: Eduardo Ponz Segrelles, Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (4.2.0-1jammy) jammy; urgency=high . . . ros-rolling-rmw-fastrtps-cpp (4.1.0-1jammy) jammy; urgency=high . * Check for correct context shutdown (#486 <ros2/rmw_fastrtps#486>) * New environment variable to change easily the publication mode (#470 <ros2/rmw_fastrtps#470>) * Contributors: Ignacio Montesino Valle, José Luis Bueno López . ros-rolling-rmw-fastrtps-cpp (4.0.0-1jammy) jammy; urgency=high . * Discriminate when the Client has gone from when the Client has not completely matched (#467 <ros2/rmw_fastrtps#467>) * Workaround when the client is gone before server sends response * Change add to the map to listener callback * Update the package.xml files with the latest Open Robotics maintainers (#459 <ros2/rmw_fastrtps#459>) * Update Quality Declarations and READMEs (#455 <ros2/rmw_fastrtps#455>) * Add QD links for dependencies to rmw_fastrtps_cpp QD * Provide external dependencies QD links * Update rmw_fastrtps README to use Fast DDS * Update rmw_fastrtps_cpp QD: Fast DDS & unit test * Update README rmw_fastrtps_cpp to QL2 * Contributors: JLBuenoLopez-eProsima, Jaime Martin Losa, José Luis Bueno López, Michael Jeronimo . ros-rolling-rmw-fastrtps-cpp (3.1.4-1jammy) jammy; urgency=high . * Perform fault injection in all creation/destruction APIs. (#453 <ros2/rmw_fastrtps#453>) * Ensure rmw_destroy_node() completes despite run-time errors. (#458 <ros2/rmw_fastrtps#458>) * Update rmw_fastrtps_cpp and rmw_fastrtps_shared_cpp QDs to QL2. (#456 <ros2/rmw_fastrtps#456>) * Contributors: Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (3.1.3-1jammy) jammy; urgency=high . * Return RMW_RET_UNSUPPORTED in rmw_get_serialized_message_size (#452 <ros2/rmw_fastrtps#452>) * Contributors: Alejandro Hernández Cordero . ros-rolling-rmw-fastrtps-cpp (3.1.2-1jammy) jammy; urgency=high . * Updated publisher/subscription allocation and wait set API return codes (#443 <ros2/rmw_fastrtps#443>) * Added rmw_logging tests (#442 <ros2/rmw_fastrtps#442>) * Contributors: Alejandro Hernández Cordero . ros-rolling-rmw-fastrtps-cpp (3.1.1-1jammy) jammy; urgency=high . * Make service/client construction/destruction implementation compliant (#445 <ros2/rmw_fastrtps#445>) * Make sure type can be unregistered successfully (#437 <ros2/rmw_fastrtps#437>) * Contributors: Barry Xu, Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (3.1.0-1jammy) jammy; urgency=high . * Add tests for native entity getters. (#439 <ros2/rmw_fastrtps#439>) * Avoid deadlock if graph update fails. (#438 <ros2/rmw_fastrtps#438>) * Contributors: Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (3.0.0-1jammy) jammy; urgency=high . * Call Domain::removePublisher while failure occurs in create_publisher (#434 <ros2/rmw_fastrtps#434>) * Contributors: Barry Xu . ros-rolling-rmw-fastrtps-cpp (2.6.0-1jammy) jammy; urgency=high . * Ensure compliant matched pub/sub count API. (#424 <ros2/rmw_fastrtps#424>) * Ensure compliant publisher QoS queries. (#425 <ros2/rmw_fastrtps#425>) * Contributors: Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (2.5.0-1jammy) jammy; urgency=high . . . ros-rolling-rmw-fastrtps-cpp (2.4.0-1jammy) jammy; urgency=high . * Ensure compliant subscription API. (#419 <ros2/rmw_fastrtps#419>) * Contributors: Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (2.3.0-1jammy) jammy; urgency=high . * Ensure compliant publisher API. (#414 <ros2/rmw_fastrtps#414>) * Contributors: Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (2.2.0-1jammy) jammy; urgency=high . * Set context actual domain id (#410 <ros2/rmw_fastrtps#410>) * Contributors: Ivan Santiago Paunovic . ros-rolling-rmw-fastrtps-cpp (2.1.0-1jammy) jammy; urgency=high . * Ensure compliant node construction/destruction API. (#408 <ros2/rmw_fastrtps#408>) * Contributors: Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (2.0.0-1jammy) jammy; urgency=high . * Remove domain_id and localhost_only from node API (#407 <ros2/rmw_fastrtps#407>) * Amend rmw_init() implementation: require enclave. (#406 <ros2/rmw_fastrtps#406>) * Update Quality Declarations to QL3. (#404 <ros2/rmw_fastrtps#404>) * Contributors: Ivan Santiago Paunovic, Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (1.1.0-1jammy) jammy; urgency=high . * Ensure compliant init/shutdown API implementation. (#401 <ros2/rmw_fastrtps#401>) * Update Quality Declaration to QL3. (#403 <ros2/rmw_fastrtps#403>) * Finalize context iff shutdown. (#396 <ros2/rmw_fastrtps#396>) * Make service wait for response reader (#390 <ros2/rmw_fastrtps#390>) * Contributors: Michel Hidalgo, Miguel Company . ros-rolling-rmw-fastrtps-cpp (1.0.1-1jammy) jammy; urgency=high . * Add Security Vulnerability Policy pointing to REP-2006 (#389 <ros2/rmw_fastrtps#389>) * Update QDs for 1.0 (#383 <ros2/rmw_fastrtps#383>) * Contributors: Chris Lalancette, Stephen Brawner . ros-rolling-rmw-fastrtps-cpp (1.0.0-1jammy) jammy; urgency=high . * Remove API related to manual by node liveliness. (#379 <ros2/rmw_fastrtps#379>) * Update quality declarations on feature testing. (#380 <ros2/rmw_fastrtps#380>) * Contributors: Ivan Santiago Paunovic, Michel Hidalgo . ros-rolling-rmw-fastrtps-cpp (0.9.1-1jammy) jammy; urgency=high . * Add package READMEs and QUALITY_DECLARATION files (#375 <ros2/rmw_fastrtps#375>) * Added doxyfiles (#372 <ros2/rmw_fastrtps#372>) * Contributors: Alejandro Hernández Cordero, brawner . ros-rolling-rmw-fastrtps-cpp (0.9.0-1jammy) jammy; urgency=high . * Add missing export of rmw_dds_common. (#374 <ros2/rmw_fastrtps#374>) * Rename rosidl_message_bounds_t. (#373 <ros2/rmw_fastrtps#373>) * Feature/services timestamps. (#369 <ros2/rmw_fastrtps#369>) * Add support for taking a sequence of messages. (#366 <ros2/rmw_fastrtps#366>) * security-context -> enclave. (#365 <ros2/rmw_fastrtps#365>) * Rename rosidl_generator_c namespace to rosidl_runtime_c. (#367 <ros2/rmw_fastrtps#367>) * Remove custom typesupport for rmw_dds_common interfaces. (#364 <ros2/rmw_fastrtps#364>) * Added rosidl_runtime c and cpp depencencies. (#351 <ros2/rmw_fastrtps#351>) * Switch to one Participant per Context. (#312 <ros2/rmw_fastrtps#312>) * Add rmw_*_event_init() functions. (#354 <ros2/rmw_fastrtps#354>) * Fixing type support C/CPP mix on rmw_fastrtps_dynamic_cpp. (#350 <ros2/rmw_fastrtps#350>) * Fix build warning in Ubuntu Focal. (#346 <ros2/rmw_fastrtps#346>) * Code style only: wrap after open parenthesis if not in one line. (#347 <ros2/rmw_fastrtps#347>) * Passing down type support information (#342 <ros2/rmw_fastrtps#342>) * Implement functions to get publisher and subcription informations like QoS policies from topic name. (#336 <ros2/rmw_fastrtps#336>) * Contributors: Alejandro Hernández Cordero, Dirk Thomas, Ingo Lütkebohle, Ivan Santiago Paunovic, Jaison Titus, Miaofei Mei, Michael Carroll, Miguel Company, Mikael Arguedas . ros-rolling-rmw-fastrtps-cpp (0.8.1-1jammy) jammy; urgency=high . * use return_loaned_message_from (#334 <ros2/rmw_fastrtps#334>) * Restrict traffic to localhost only if env var is provided (#331 <ros2/rmw_fastrtps#331>) * Zero copy api (#322 <ros2/rmw_fastrtps#322>) * update signature for added pub/sub options (#329 <ros2/rmw_fastrtps#329>) * Contributors: Brian Marchi, Karsten Knese, William Woodall . ros-rolling-rmw-fastrtps-cpp (0.8.0-1jammy) jammy; urgency=high . * Add function for getting clients by node (#293 <ros2/rmw_fastrtps#293>) * Implement get_actual_qos() for subscriptions (#287 <ros2/rmw_fastrtps#287>) * Fix error message (#290 <ros2/rmw_fastrtps#290>) * Contributors: Jacob Perron, M. M . ros-rolling-rmw-fastrtps-cpp (0.7.3-1jammy) jammy; urgency=high . . . ros-rolling-rmw-fastrtps-cpp (0.7.2-1jammy) jammy; urgency=high . * Centralize topic name creation logic and update to match FastRTPS 1.8 API (#272 <ros2/rmw_fastrtps#272>) * Contributors: Nick Burek . ros-rolling-rmw-fastrtps-cpp (0.7.1-1jammy) jammy; urgency=high . * Support arbitrary message namespaces (#266 <ros2/rmw_fastrtps#266>) * Add qos interfaces with no-op (#271 <ros2/rmw_fastrtps#271>) * Updates for preallocation API. (#274 <ros2/rmw_fastrtps#274>) * Contributors: Jacob Perron, Michael Carroll, Ross Desmond . ros-rolling-rmw-fastrtps-cpp (0.7.0-1jammy) jammy; urgency=high . * Add function to get publisher actual qos settings (#267 <ros2/rmw_fastrtps#267>) * pass context to wait set and fini context (#252 <ros2/rmw_fastrtps#252>) * Improve service_is_available logic to protect that client is waiting forever (#238 <ros2/rmw_fastrtps#238>) * Merge pull request #250 <ros2/rmw_fastrtps#250> from ros2/support_static_lib * use namespace_prefix from shared package * Contributors: Dirk Thomas, DongheeYe, William Woodall, ivanpauno . ros-rolling-rmw-fastrtps-cpp (0.6.1-1jammy) jammy; urgency=high . * Add topic cache object for managing topic relations (#236 <ros2/rmw_fastrtps#236>) * Fastrtps 1.7.0 (#233 <ros2/rmw_fastrtps#233>) * RMW_FastRTPS configuration from XML only (#243 <ros2/rmw_fastrtps#243>) * refactor to support init options and context (#237 <ros2/rmw_fastrtps#237>) * Methods to retrieve matched counts on pub/sub (#234 <ros2/rmw_fastrtps#234>) * use uint8_array (#240 <ros2/rmw_fastrtps#240>) * Contributors: Juan Carlos, Karsten Knese, Michael Carroll, MiguelCompany, Ross Desmond, William Woodall . ros-rolling-rmw-fastrtps-cpp (0.6.0-1jammy) jammy; urgency=high . * Add semicolons to all RCLCPP and RCUTILS macros. (#229 <ros2/rmw_fastrtps#229>) * Include node namespaces in get_node_names (#224 <ros2/rmw_fastrtps#224>) * add rmw_get_serialization_format (#215 <ros2/rmw_fastrtps#215>) * Merge pull request #218 <ros2/rmw_fastrtps#218> from ros2/pr203 * Revert "fix template closing indentation (#214 <ros2/rmw_fastrtps#214>)" * fix template closing indentation (#214 <ros2/rmw_fastrtps#214>) * Contributors: Chris Lalancette, Dirk Thomas, Karsten Knese, Michael Carroll, Miguel Company, Mikael Arguedas . ros-rolling-rmw-fastrtps-cpp (0.5.1-1jammy) jammy; urgency=high . * update maintainer * Contributors: Dirk Thomas . ros-rolling-rmw-fastrtps-cpp (0.5.0-1jammy) jammy; urgency=high . * Avoid allocations (#211 <ros2/rmw_fastrtps#211>) * Temporary buffer remove (#207 <ros2/rmw_fastrtps#207>) * Validate the buffer_ of CustomServiceRequest object before using it to (#210 <ros2/rmw_fastrtps#210>) * update usage of rcutils_join_path() (#208 <ros2/rmw_fastrtps#208>) * Expose raw CDR stream for publish and subscribe (#186 <ros2/rmw_fastrtps#186>) * Remove topic partitions (#192 <ros2/rmw_fastrtps#192>) * Fix leak if client reponse is never taken (#201 <ros2/rmw_fastrtps#201>) * Revert "Export rmw_fastrtps_cpp target" (#200 <ros2/rmw_fastrtps#200>) * Support access control (#197 <ros2/rmw_fastrtps#197>) * Export rmw_fastrtps_cpp target (#198 <ros2/rmw_fastrtps#198>) * Fix deserialization segfault in bionic. (#199 <ros2/rmw_fastrtps#199>) * Fix namespaces (#196 <ros2/rmw_fastrtps#196>) * Merge pull request #182 <ros2/rmw_fastrtps#182> from ros2/node_name_in_user_data * add participant listener * add node name to user data * change export order for static linking (#190 <ros2/rmw_fastrtps#190>) * update style (#189 <ros2/rmw_fastrtps#189>) * optimize timeout judgement according to different condition (#187 <ros2/rmw_fastrtps#187>) * use existing check_wait_set_for_data to avoid duplicated code (#185 <ros2/rmw_fastrtps#185>) * Enable logging level manipulation from rmw_fastrtps (#156 <ros2/rmw_fastrtps#156>) * Small performance improvements (#183 <ros2/rmw_fastrtps#183>) * Segmentation error to dereference nullptr (#180 <ros2/rmw_fastrtps#180>) * Contributors: Dirk Thomas, Ethan Gao, Guillaume Autran, Karsten Knese, Michael Carroll, MiguelCompany, Mikael Arguedas, Minggang Wang, Rohit Salem, Shane Loretz, Sriram Raghunathan, William Woodall, jwang11 . ros-rolling-rmw-fastrtps-cpp (0.4.0-1jammy) jammy; urgency=high . * Merge pull request #178 <ros2/rmw_fastrtps#178> from ros2/fix_wrong_count * Merge pull request #177 <ros2/rmw_fastrtps#177> from ros2/rename_group * Wait set two words (#175 <ros2/rmw_fastrtps#175>) * not exporting pthread manually (#174 <ros2/rmw_fastrtps#174>) * Merge pull request #169 <ros2/rmw_fastrtps#169> from ros2/rep149 * Merge pull request #171 <ros2/rmw_fastrtps#171> from jwang11/master * rcutils_join_path returns a char * now. (#173 <ros2/rmw_fastrtps#173>) * memory leak issue (#172 <ros2/rmw_fastrtps#172>) * Unify and simplify de/serializeROSmessage processing * Avoid duplicated code in calculateMaxSerializedSize for array and normal member (#168 <ros2/rmw_fastrtps#168>) * Fix the issues to dereference to nullptr (#165 <ros2/rmw_fastrtps#165>) * Fix rmw_fastrtps dead code (#163 <ros2/rmw_fastrtps#163>) * Merge pull request #167 <ros2/rmw_fastrtps#167> from deng02/tune-count-pub-sub * Remove string allocation in the count of subscribers and publishers * use auto deduction and nullptr to keep coding style consistent (#162 <ros2/rmw_fastrtps#162>) * Merge pull request #164 <ros2/rmw_fastrtps#164> from dejanpan/master * Fix several parameter check issues in rmw_fastrtps_cpp apis * Remove unnecessary dependency on rosidl_generator_cpp (#161 <ros2/rmw_fastrtps#161>) * Move the hasData checks for non-blocking wait 'timeout' higher (#158 <ros2/rmw_fastrtps#158>) * Support loading default XML profile file (#153 <ros2/rmw_fastrtps#153>) * Drop duplicated rmw_init.cpp in rmw_fastrtps_cpp/CMakeLists.txt (#155 <ros2/rmw_fastrtps#155>) * Merge pull request #154 <ros2/rmw_fastrtps#154> from ros2/uncrustify_master * Removing magic numbers: old maximun lengths (#152 <ros2/rmw_fastrtps#152>)

dirk-thomas added the in progress Actively being worked on (Kanban column) label Mar 23, 2018

rohitsalem mentioned this pull request Mar 28, 2018

Remove topic partitions ros2/ros2#476

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wjwwood added in review Waiting for review (Kanban column) and removed in progress Actively being worked on (Kanban column) labels Apr 3, 2018

mikaelarguedas reviewed Apr 3, 2018

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ClarkTucker mentioned this pull request Apr 6, 2018

Interoperability issues tocinc/rmw_coredx#3

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rohitsalem force-pushed the remove_topic_partitions branch 3 times, most recently from 8c53ede to aad83c6 Compare April 18, 2018 20:05

Karsten1987 approved these changes Apr 18, 2018

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mikaelarguedas approved these changes Apr 28, 2018

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rohitsalem added 3 commits May 14, 2018 11:43

removed the use of partitions, use the complete topic_name directly

1eec70a

Removed assign_partitions.hpp header trial: removal of topic partitions from services and client Modified readerinfo, writerinfo and added prefix to the topic names.

Changed topic namespacing in services and clients

96a401b

minor style changes Delete assign_partitions.hpp and removed anything related to partitons re-adding avoid_ros_namespace_conventions check for prefixing names Corrected indentation Added vertical space between the headers

remove unnecessary initializations

ec44260

Karsten1987 force-pushed the remove_topic_partitions branch from 3696bf0 to ec44260 Compare May 14, 2018 18:43

mikaelarguedas mentioned this pull request May 15, 2018

Remove topic partitions ros2/design#170

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mikaelarguedas mentioned this pull request May 29, 2018

Allow to create topics with "exact" topic name from rcl ros2/ros2#496

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Karsten1987 merged commit a33f9f8 into ros2:master Jun 7, 2018

wjwwood removed the in review Waiting for review (Kanban column) label Jun 7, 2018

dirk-thomas mentioned this pull request Jun 8, 2018

Static typesupport #203

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6 tasks

dirk-thomas mentioned this pull request Jan 7, 2019

Bind a Fast RTPS publisher with a ROS 2 subscriber fails #251

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spiderkeys mentioned this pull request Jul 22, 2019

Creating a topic without a leading forward slash #303

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Remove topic partitions #192

Remove topic partitions #192

rohitsalem commented Mar 23, 2018 •

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rohitsalem commented Mar 28, 2018 •

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		@@ -20,10 +20,8 @@
		#include "rmw/rmw.h"

		#include "rosidl_typesupport_introspection_cpp/identifier.hpp"

Remove topic partitions #192

Remove topic partitions #192

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rohitsalem commented Mar 23, 2018 •

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rohitsalem commented Mar 28, 2018 •

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