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verify client gid uniqueness for a single service event. #2636

Merged
merged 1 commit into from
Oct 1, 2024
Merged

verify client gid uniqueness for a single service event. #2636

merged 1 commit into from
Oct 1, 2024

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fujitatomoya
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part of ros2/rmw#357

  • this PR makes sure uniqueness of client GID via single service event.
  • at this moment, rmw_connextdds is the only rmw implementation that can pass this test.

fujitatomoya
fujitatomoya commented Oct 1, 2024
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rclcpp/test/rclcpp/test_service_introspection.cpp
// Only rmw_connextdds can pass this test requirement for now.
// See more details for https://github.com/ros2/rmw/issues/357
if (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0) {
ASSERT_THAT(
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confirmed that rmw_fastrtps and rmw_cyclonedds fail in this ASSERTION.

@fujitatomoya
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@wjwwood @clalancette @ahcorde can you review this?

It would be good to have a new test (maybe in rcl?) that checks that this condition is met, along with any clarification in the rmw docs to require it of the middleware.

https://github.com/ros2/rcl_interfaces/blob/f6b3741d921ef5414125091b2ccc74b863be3c24/service_msgs/msg/ServiceEventInfo.msg#L12-L17 and with this PR.

That way we could take the new docs and test to the rmw implementation maintainers to ask them to fix it.

we can ask help for rmw implementation maintainers. (rmw_fastrtps and rmw_cyclonedds)

ahcorde
ahcorde approved these changes Oct 1, 2024
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There are some other parts in the tests where we do similar conditions. If we keep the meta issue open to keep track of the other rmw implementations, I'm fine to merge this.

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ahcorde commented Oct 1, 2024

Pulls: #2636
Gist: https://gist.githubusercontent.com/ahcorde/2cf3487ad132d0176a20e485febb7ca9/raw/4b56e1d716c28091c288491f12979e5dd6bbe8a4/ros2.repos
BUILD args: --packages-up-to rclcpp --packages-above-and-dependencies rclcpp
TEST args: --packages-select rclcpp --packages-above rclcpp
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/14637

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@clalancette clalancette merged commit 2813045 into rolling Oct 1, 2024
3 checks passed
@clalancette clalancette deleted the fujitatomoya/test-service-event-gid-uniqueness branch October 1, 2024 14:16
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@ahcorde ahcorde ahcorde approved these changes

@ivanpauno ivanpauno Awaiting requested review from ivanpauno ivanpauno is a code owner

@hidmic hidmic Awaiting requested review from hidmic hidmic is a code owner

@wjwwood wjwwood Awaiting requested review from wjwwood wjwwood is a code owner

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3 participants
@fujitatomoya @ahcorde @clalancette