Merge branch 'master' into Deserialization

.github/resources/suppress_other_rmw.repos

@@ -0,0 +1,11 @@
+definitions:
+  - &empty_repo
+    type: zip
+    url: data:application/zip;base64,UEsFBgAAAAAAAAAAAAAAAAAAAAAAAA==
+
+repositories:
+  ros2/rosidl_typesupport_connext/COLCON_IGNORE: *empty_repo
+  ros2/rmw_connext/COLCON_IGNORE: *empty_repo
+
+  ros2/rosidl_typesupport_fastrtps/COLCON_IGNORE: *empty_repo
+  ros2/rmw_fastrtps/COLCON_IGNORE: *empty_repo

.github/workflows/CI.yml

@@ -5,24 +5,19 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-          rosdistro: [dashing, eloquent, master]
+          rosdistro: [master]
           os: [ubuntu-18.04, macOS-latest, windows-latest]
-          exclude:
-            # pending https://github.com/ament/ament_cmake/pull/233
-            - rosdistro: eloquent
-              os: windows-latest
-            # pending https://github.com/ament/ament_cmake/pull/234
-            - rosdistro: dashing
-              os: windows-latest
     runs-on: ${{ matrix.os }}
     steps:
     - if: runner.os == 'Linux'
       # azure ubuntu repo can be flaky so add an alternate source
       run: sed -e 's/azure.archive.ubuntu.com/us.archive.ubuntu.com/g' -e t -e d /etc/apt/sources.list | sudo tee /etc/apt/sources.list.d/nonazure.list
     - name: Acquire ROS dependencies
-      uses: ros-tooling/[email protected].17
+      uses: ros-tooling/[email protected].20
     - name: Build and test ROS
-      uses: ros-tooling/[email protected].15
+      uses: ros-tooling/[email protected].16
       with:
         package-name: rmw_cyclonedds_cpp
-        vcs-repo-file-url: https://raw.githubusercontent.com/ros2/ros2/${{ matrix.rosdistro }}/ros2.repos
+        vcs-repo-file-url: >
+          https://raw.githubusercontent.com/ros2/ros2/${{ matrix.rosdistro }}/ros2.repos
+          https://raw.githubusercontent.com/${{github.repository}}/${{github.sha}}/.github/resources/suppress_other_rmw.repos

README.md

@@ -7,26 +7,61 @@ Cyclone DDS is ready to use. It seeks to give the fastest, easiest, and most rob
 
 1. Install:
 
-  ```
-  apt install ros-eloquent-rmw-cyclonedds-cpp
-  ```
-  or
-  ```
-  apt install ros-dashing-rmw-cyclonedds-cpp
-  ```
+   ```
+   apt install ros-eloquent-rmw-cyclonedds-cpp
+   ```
+   or
+   ```
+   apt install ros-dashing-rmw-cyclonedds-cpp
+   ```
 
-2) Set env variable and run ROS2 apps as usual:
+2. Set env variable and run ROS2 apps as usual:
 
-  ```export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp```
+   ```export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp```
 
-3) Confirm RMW: In Eloquent, to confirm which RMW you're using:
+3. Confirm RMW: In Eloquent and later, to confirm which RMW you're using:
 
    ```ros2 doctor --report```
 
 
+## Performance recommendations
+
+With large samples (100s of kilobytes), excessive latency can be caused by running out of space in the OS-level receive buffer. For this reason, on Linux, we recommend increasing the buffer size:
+* Temporarily (until reboot): `sudo sysctl -w net.core.rmem_max=8388608 net.core.rmem_default=8388608`
+* Permanently: `echo "net.core.rmem_max=8388608\nnet.core.rmem_default=8388608\n" | sudo tee /etc/sysctl.d/60-cyclonedds.conf`
+
+## Debugging
+
+So Cyclone isn't playing nice or not giving you the performance you had hoped for? That's not good... Please [file an issue against this repository](https://github.com/ros2/rmw_cyclonedds/issues/new)!
+
+The `ddsperf` tool distributed with Cyclone DDS can be used to check that communication works *without* ROS. Run `ddsperf sanity` on two different machines - if the "mean" value is above `100000us`, there are likely network issues.
+
+If you're having trouble with nodes discovering others or can't use multicast *at all* on your network setup, you can circumvent discovery:
+
+  `export CYCLONEDDS_URI='<Discovery><Peers><Peer Address='myroshost.local' /><Peer Address='myroshost2.local' /></></>'`
+
+Here are some ways to generate additional debugging info that can help identify the problem faster, and are helpful on an issue ticket:
+
+* Configure Cyclone to create richer debugging output:
+
+  * To see the output live:
+
+    `export CYCLONEDDS_URI='<Tracing><Verbosity>trace</><Out>stderr</></>'`
+
+  * To send to `/var/log/`:
+
+    `export CYCLONEDDS_URI='<Tracing><Verbosity>trace</><Out>/var/log/cyclonedds.${CYCLONEDDS_PID}.log</></>'`
+
+* Create a Wireshark capture:
+
+  `wireshark -k -w wireshark.pcap.gz`
+
 ## Building from source and contributing
 
-Note the `master` branch maintains compatibility with ROS releases Dashing and later, including the not-yet-released [*Foxy*](https://index.ros.org/doc/ros2/Releases/Release-Foxy-Fitzroy/).
+The following branches are actively maintained:
+
+* `master`, which targets the upcoming ROS version, [*Foxy*](https://index.ros.org/doc/ros2/Releases/Release-Foxy-Fitzroy/).
+* `dashing-eloquent`, which maintains compatibility with ROS releases [*Dashing*](https://index.ros.org/doc/ros2/Releases/Release-Dashing-Diademata/) and [*Eloquent*](https://index.ros.org/doc/ros2/Releases/Release-Eloquent-Elusor/)
 
 If building ROS2 from source ([ros2.repos](https://github.com/ros2/ros2/blob/master/ros2.repos)), you already have this package and Cyclone DDS:
 

rmw_cyclonedds_cpp/CMakeLists.txt

@@ -22,14 +22,15 @@ if(NOT CMAKE_CXX_STANDARD)
 endif()
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
+  add_compile_options(-Wall -Wextra -Wpedantic -Wimplicit-fallthrough)
 endif()
 
 find_package(ament_cmake_ros REQUIRED)
 
 find_package(rcutils REQUIRED)
+find_package(rcpputils REQUIRED)
 
-find_package(cyclonedds_cmake_module REQUIRED)
+#find_package(cyclonedds_cmake_module REQUIRED)
 find_package(CycloneDDS QUIET CONFIG)
 if(NOT CycloneDDS_FOUND)
   message(WARNING "Could not find Eclipse Cyclone DDS - skipping '${PROJECT_NAME}'")
@@ -38,23 +39,26 @@ if(NOT CycloneDDS_FOUND)
 endif()
 
 find_package(rmw REQUIRED)
-find_package(rosidl_generator_c REQUIRED)
+find_package(rmw_dds_common REQUIRED)
+find_package(rosidl_runtime_c REQUIRED)
 find_package(rosidl_typesupport_introspection_c REQUIRED)
 find_package(rosidl_typesupport_introspection_cpp REQUIRED)
 
 ament_export_dependencies(rcutils)
+ament_export_dependencies(rcpputils)
 ament_export_dependencies(rmw)
-ament_export_dependencies(rosidl_generator_c)
+ament_export_dependencies(rosidl_runtime_c)
+ament_export_dependencies(rmw_dds_common)
 ament_export_dependencies(rosidl_typesupport_introspection_c)
 ament_export_dependencies(rosidl_typesupport_introspection_cpp)
 
 add_library(rmw_cyclonedds_cpp
   src/rmw_node.cpp
   src/serdata.cpp
   src/serdes.cpp
-  src/graphrhc.cpp
   src/u16string.cpp
   src/exception.cpp
+  src/demangle.cpp
   src/deserialization_exception.cpp
   src/Serialization.cpp
   src/TypeSupport2.cpp src/Deserialization.cpp src/Deserialization.hpp src/CDRCursor.hpp src/CDR.hpp)
@@ -64,14 +68,18 @@ target_include_directories(rmw_cyclonedds_cpp PUBLIC
   $<INSTALL_INTERFACE:include>
 )
 
-target_link_libraries(rmw_cyclonedds_cpp CycloneDDS::ddsc)
+target_link_libraries(rmw_cyclonedds_cpp
+  CycloneDDS::ddsc
+)
 
 ament_target_dependencies(rmw_cyclonedds_cpp
   "rcutils"
+  "rcpputils"
   "rosidl_typesupport_introspection_c"
   "rosidl_typesupport_introspection_cpp"
   "rmw"
-  "rosidl_generator_c"
+  "rmw_dds_common"
+  "rosidl_runtime_c"
 )
 
 configure_rmw_library(rmw_cyclonedds_cpp)
@@ -113,3 +121,7 @@ install(
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
+
+include(cmake/get_rmw_cyclonedds_output_filter.cmake)
+get_rmw_cyclonedds_output_filter(rmw_cyclonedds_output_patterns)
+ament_index_register_resource("rmw_output_patterns" CONTENT "${rmw_cyclonedds_output_patterns}")

rmw_cyclonedds_cpp/cmake/get_rmw_cyclonedds_output_filter.cmake

@@ -0,0 +1,31 @@
+# Copyright 2020 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+#
+# Get patterns for output filtering for CycloneDDS RMW.
+#
+# :param output_patterns: patterns that will be used to identify console
+#   output generated by CycloneDDS.
+# :type output_filter: string
+#
+# @public
+#
+macro(get_rmw_cyclonedds_output_filter output_patterns)
+  if(NOT "${ARGN}" STREQUAL "")
+    message(FATAL_ERROR "get_rmw_cyclonedds_output_filter() called with "
+      "unused arguments: ${ARGN}")
+  endif()
+
+  set(${output_patterns} ".*using network interface \\w+ \\(.*\\) selected arbitrarily from:.*")
+endmacro()