Changes to build against Fast DDS 3.0 #776
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MiguelCompany
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fujitatomoya
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Sep 6, 2024
MiguelCompany
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richiware
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clalancette
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Sep 25, 2024
| @@ -38,10 +38,8 @@ find_package(rmw_dds_common REQUIRED) | |||
| find_package(rmw_fastrtps_shared_cpp REQUIRED) | |||
| find_package(tracetools REQUIRED) | |||
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| find_package(fastrtps_cmake_module REQUIRED) | |||
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Do we need to keep fastrtps_cmake_module around at all, or should we look at removing that package entirely?
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See ros2/rosidl_typesupport_fastrtps#120 for this
| @@ -234,263 +250,234 @@ _create_type_name(const MembersType * members) | |||
| std::string message_namespace(members->message_namespace_); | |||
| std::string message_name(members->message_name_); | |||
| if (!message_namespace.empty()) { | |||
| // Find and replace C namespace separator with C++, in case this is using C typesupport | |||
| message_namespace = rcpputils::find_and_replace(message_namespace, "__", "::"); | |||
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Can you explain a little bit more of why this is needed now?
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This is needed to ensure same type coming from Python or C++ is the same type at DDS X-Types level. Without this a Python application will register a different DDS-XTypes TypeObject and maybe won't communicate with a C++ application.
This rename is already done in other places like MessageTypeSupport_impl.
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* Fast DDS 3.0: First commit Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev> * Fast DDS 3.0: continue Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev> * Refs #21322: rmw_fastrtps_shared_cpp: update headers Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_shared_cpp: move namespace from fastrtps to fastdds Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_shared_cpp: Update export macro to FASTDDS Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_shared_cpp: Revert header guard to the same name as the package name Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_shared_cpp: Update ReturnCode_t Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_shared_cpp: remove deprecated test Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_shared_cpp: Update representation in test Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_shared_cpp: Update is_plain() call Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_shared_cpp: Update cmake extra dependencies to Fast 3.0.0 and doxygen predefied macro Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_shared_cpp: TODO continue. Register type identifies if not registered Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_dynamic_cpp: update headers Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_dynamic_cpp: update to topicdatatype refactor Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_dynamic_cpp: Update ReturnCode_t Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_dynamic_cpp: move namespace from fastrtps to fastdds Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_cpp: typo in CMakeLists.txt Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_cpp: Typesupport receives rosidl_message_typesupport in construction Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_cpp: update headers Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_cpp: update to topicdatatype refactor Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_cpp: Update ReturnCode_t Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_cpp: move namespace from fastrtps to fastdds Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_cpp: update rme_dynamic_message methods to fastdds Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_cpp: use register_type_object_representation() method Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_cpp: subscirption: cast to DynamicType::_ref_type Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_cpp: required fastdds 3.0 in cmake extras Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_shared_cpp: getter for ros msg typesupports Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_shared_cpp: check return codes in write() operations Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_shared_cpp: complete GetTypeIdentifiers() and solve minor warnings Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_dynamic_cpp: required fastdds 3.0 in cmake extras Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_dynamic_cpp: update typesupport Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_dynamic_cpp: update headers and namespaces Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322. Fixes Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev> * Refs #21322: Apply rev suggestions Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_shared_cpp: linters Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_dynamic_cpp: linters Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> * Refs #21322: rmw_fastrtps_cpp: linters Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> --------- Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev> Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com> Co-authored-by: Ricardo González Moreno <ricardo@richiware.dev> Signed-off-by: Mario Domínguez López <116071334+Mario-DL@users.noreply.github.com>
Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
Signed-off-by: Miguel Company <MiguelCompany@eprosima.com>
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
Signed-off-by: Miguel Company <miguelcompany@eprosima.com>
Signed-off-by: Ricardo González <ricardo@richiware.dev>
Signed-off-by: Ricardo González <ricardo@richiware.dev>
MiguelCompany
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@MiguelCompany Hello, when will the FastDDS3 RMW Changes be merged with ROS2? |
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This PR brings in the necessary changes to build against Fast DDS 3.0.x
It has been reviewed by the eProsima Team in eProsima#32
Part of ros2/ros2#1598