FastRTPS/Connext Action tests are suspiciously short, and probably don't work

[sloretz]

Bug report

Required Info:

• Operating System:
  • Ubuntu Bionic
• Installation type:
  • source
• Version or commit hash:
  • https://gist.github.com/sloretz/6e5d7324b115da574d79c7e785d8968e
• DDS implementation:
  • Fast-RTPS + RTI Connext
• Client library (if applicable):
  • clcpp

Steps to reproduce issue

1. Run the action test using rclcpp with fastrtps and connext

colcon test --event-handlers console_direct+ --packages-select test_communication --ctest-args -R test_action_client_server__Fibonacci__rclcpp__rmw_fastrtps_cpp__rmw_connext_cpp

1. Run the executables the above test should be running on their own

   RMW_IMPLEMENTATION=rmw_fastrtps_cpp ./build/test_communication/test_action_client_cpp Fibonacci /foo/bar
   

   RMW_IMPLEMENTATION=rmw_connext_cpp ./build/test_communication/test_action_server_cpp Fibonacci /foo/bar
   

Expected behavior

1. The test would pass, taking about a second or so, and outputting info about goals and feedback
2. Run independently the tests should output information about goals and feedback

Actual behavior

1. The test passes in 0.1 seconds with no output
2. Run independently the client says it sent a goal, but the server does not print a message saying it received it.

Additional information

Same behavior if the rmw implementations are flipped so it's a connext client with fastrtps server. If both are fastrtps or both are connext it works as expected. The service/client and subscriber/publisher tests appear to work fine across fastrtps and connext.

[sloretz]

It looks like all cross vendor tests are skipped if they involve services. If that's still the right thing to do, then it would make sense to skip action across vendors too since they use services.

system_tests/test_communication/CMakeLists.txt

Lines 191 to 196 in 9147079

	# TODO different vendors can't talk to each other right now
	if(NOT rmw_implementation1 STREQUAL rmw_implementation2 AND
	(NOT(rmw_implementation1 MATCHES "(.*)connext(.*)" AND rmw_implementation2 MATCHES "(.*)connext(.*)"))
	)
	set(SKIP_TEST "SKIP_TEST")
	endif()

[clalancette]

It looks like all cross vendor tests are skipped if they involve services. If that's still the right thing to do, then it would make sense to skip action across vendors too since they use services.

Yeah, as far as I know, services don't currently work cross-vendor. So I think disabling cross-vendor action testing is the correct thing to do here as well.