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Add support for rmw_connextdds #1574

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merged 7 commits into from
Mar 11, 2021
Merged

Add support for rmw_connextdds #1574

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9de9593
Avoid implicit integer to double conversion
asorbini Mar 5, 2021
5646285
Replace rmw_connext_cpp with rmw_connextdds
asorbini Mar 5, 2021
31220d2
Correct line indentation
asorbini Mar 5, 2021
f1e3b5c
Remove empty line from end of block.
asorbini Mar 6, 2021
7277605
Replace stale reference to Connext
asorbini Mar 8, 2021
84c9fcd
Revert "Avoid implicit integer to double conversion"
asorbini Mar 8, 2021
14838e9
Restore exceptions for ros2/rmw_connext to ease transition to rticomm…
asorbini Mar 9, 2021
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6 changes: 4 additions & 2 deletions rclcpp/test/rclcpp/executors/test_multi_threaded_executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -86,9 +86,11 @@ TEST_F(TestMultiThreadedExecutor, timer_over_take) {
double diff = static_cast<double>(std::abs((now - last).nanoseconds())) / 1.0e9;
last = now;

if (diff < PERIOD - TOLERANCE) {
double diff_exp =
static_cast<double>(PERIOD) - static_cast<double>(TOLERANCE);
if (diff < diff_exp) {
executor.cancel();
ASSERT_GT(diff, PERIOD - TOLERANCE);
ASSERT_GT(diff, diff_exp);
}
}
};
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4 changes: 1 addition & 3 deletions rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp
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Expand Up @@ -511,9 +511,7 @@ TEST_F(TestAllocatorMemoryStrategy, number_of_entities_with_subscription) {
RclWaitSetSizes expected_sizes = {};
expected_sizes.size_of_subscriptions = 1;
const std::string implementation_identifier = rmw_get_implementation_identifier();
if (implementation_identifier == "rmw_connext_cpp" ||
implementation_identifier == "rmw_cyclonedds_cpp")
{
if (implementation_identifier == "rmw_cyclonedds_cpp") {
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IMO, keeping rmw_connext_cpp here doesn't make any harm.
Not removing support for rmw_connext_cpp immediately will make the transition easier IMO

// For connext, a subscription will also add an event and waitable
expected_sizes.size_of_events += 1;
expected_sizes.size_of_waitables += 1;
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4 changes: 0 additions & 4 deletions rclcpp/test/rclcpp/test_add_callback_groups_to_executor.cpp
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Expand Up @@ -30,10 +30,6 @@
#include "rclcpp/executor.hpp"
#include "rclcpp/rclcpp.hpp"

// Note: This is a long running test with rmw_connext_cpp, if you change this file, please check
// that this test can complete fully, or adjust the timeout as necessary.
// See https://github.com/ros2/rmw_connext/issues/325 for resolution]

using namespace std::chrono_literals;

template<typename T>
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4 changes: 0 additions & 4 deletions rclcpp/test/rclcpp/test_publisher.cpp
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Expand Up @@ -29,10 +29,6 @@

#include "test_msgs/msg/empty.hpp"

// Note: This is a long running test with rmw_connext_cpp, if you change this file, please check
// that this test can complete fully, or adjust the timeout as necessary.
// See https://github.com/ros2/rmw_connext/issues/325 for resolution

class TestPublisher : public ::testing::Test
{
public:
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4 changes: 0 additions & 4 deletions rclcpp/test/rclcpp/test_subscription.cpp
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Expand Up @@ -29,10 +29,6 @@

#include "test_msgs/msg/empty.hpp"

// Note: This is a long running test with rmw_connext_cpp, if you change this file, please check
// that this test can complete fully, or adjust the timeout as necessary.
// See https://github.com/ros2/rmw_connext/issues/325 for resolution

using namespace std::chrono_literals;

class TestSubscription : public ::testing::Test
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4 changes: 0 additions & 4 deletions rclcpp_action/test/test_server.cpp
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Expand Up @@ -29,10 +29,6 @@
#include "rclcpp_action/server.hpp"
#include "./mocking_utils/patch.hpp"

// Note: This is a long running test with rmw_connext_cpp, if you change this file, please check
// that this test can complete fully, or adjust the timeout as necessary.
// See https://github.com/ros2/rmw_connext/issues/325 for resolution

using Fibonacci = test_msgs::action::Fibonacci;
using CancelResponse = typename Fibonacci::Impl::CancelGoalService::Response;
using GoalUUID = rclcpp_action::GoalUUID;
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4 changes: 0 additions & 4 deletions rclcpp_lifecycle/test/test_lifecycle_node.cpp
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Expand Up @@ -31,10 +31,6 @@

#include "./mocking_utils/patch.hpp"

// Note: This is a long running test with rmw_connext_cpp, if you change this file, please check
// that this test can complete fully, or adjust the timeout as necessary.
// See https://github.com/ros2/rmw_connext/issues/325 for resolution

using lifecycle_msgs::msg::State;
using lifecycle_msgs::msg::Transition;

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4 changes: 0 additions & 4 deletions rclcpp_lifecycle/test/test_lifecycle_service_client.cpp
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Expand Up @@ -52,10 +52,6 @@ constexpr char const * node_get_transition_graph_topic =
"/lc_talker/get_transition_graph";
const lifecycle_msgs::msg::State unknown_state = lifecycle_msgs::msg::State();

// Note: This is a long running test with rmw_connext_cpp, if you change this file, please check
// that this test can complete fully, or adjust the timeout as necessary.
// See https://github.com/ros2/rmw_connext/issues/325 for resolution

class EmptyLifecycleNode : public rclcpp_lifecycle::LifecycleNode
{
public:
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