Merge branch 'rolling' into sync_config

.github/workflows/build.yaml

@@ -33,7 +33,7 @@ jobs:
       if: ${{ matrix.BUILD_TYPE == 'source' }}
     - name: Install Coverage Tools
       if: ${{ matrix.BUILD_TYPE == 'binary' }}
-      run: sudo apt update && sudo apt install -y python3-colcon-coveragepy-result python3-colcon-lcov-result lcov
+      run: sudo apt update && sudo apt upgrade -y && sudo apt install -y python3-colcon-coveragepy-result python3-colcon-lcov-result lcov
     - name: Build and run tests
       id: action-ros-ci
       uses: ros-tooling/[email protected]

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_ROUTER_CONFIG.json5

@@ -498,8 +498,8 @@
         connect_certificate: null,
         // Whether or not to verify the matching between hostname/dns and certificate when connecting,
         // if set to false zenoh will disregard the common names of the certificates when verifying servers.
-        // This could be dangerous because your CA can have signed a server cert for foo.com, that's later being used to host a server at baz.com. If you wan't your
-        // ca to verify that the server at baz.com is actually baz.com, let this be true (default).
+        // This could be dangerous because your CA can have signed a server cert for foo.com, that's later being used to host a server at baz.com.
+        // If you want your ca to verify that the server at baz.com is actually baz.com, let this be true (default).
         verify_name_on_connect: true,
         // Whether or not to close links when remote certificates expires.
         // If set to true, links that require certificates (tls/quic) will automatically disconnect when the time of expiration of the remote certificate chain is reached

rmw_zenoh_cpp/config/DEFAULT_RMW_ZENOH_SESSION_CONFIG.json5

@@ -501,8 +501,8 @@
         connect_certificate: null,
         // Whether or not to verify the matching between hostname/dns and certificate when connecting,
         // if set to false zenoh will disregard the common names of the certificates when verifying servers.
-        // This could be dangerous because your CA can have signed a server cert for foo.com, that's later being used to host a server at baz.com. If you wan't your
-        // ca to verify that the server at baz.com is actually baz.com, let this be true (default).
+        // This could be dangerous because your CA can have signed a server cert for foo.com, that's later being used to host a server at baz.com.
+        // If you want your ca to verify that the server at baz.com is actually baz.com, let this be true (default).
         verify_name_on_connect: true,
         // Whether or not to close links when remote certificates expires.
         // If set to true, links that require certificates (tls/quic) will automatically disconnect when the time of expiration of the remote certificate chain is reached

rmw_zenoh_cpp/src/detail/graph_cache.cpp

@@ -356,7 +356,7 @@ void GraphCache::parse_put(
     range.first, range.second,
     [entity](const std::pair<std::string, GraphNodePtr> & node_it)
     {
-      // Match nodes if their zenoh sesion and node ids match.
+      // Match nodes if their zenoh session and node ids match.
       return entity->zid() == node_it.second->zid_ && entity->nid() == node_it.second->nid_;
     });
   if (node_it == range.second) {
@@ -573,7 +573,7 @@ void GraphCache::parse_del(
     range.first, range.second,
     [entity](const std::pair<std::string, GraphNodePtr> & node_it)
     {
-      // Match nodes if their zenoh sesion and node ids match.
+      // Match nodes if their zenoh session and node ids match.
       return entity->zid() == node_it.second->zid_ && entity->nid() == node_it.second->nid_;
     });
   if (node_it == range.second) {

rmw_zenoh_cpp/src/detail/graph_cache.hpp

@@ -91,7 +91,7 @@ struct GraphNode
   TopicMap pubs_ = {};
   TopicMap subs_ = {};
 
-  // Entires for service/client.
+  // Entries for service/client.
   TopicMap clients_ = {};
   TopicMap services_ = {};
 };

rmw_zenoh_cpp/src/detail/liveliness_utils.hpp

@@ -65,7 +65,7 @@ struct TopicInfo
 };
 
 ///=============================================================================
-/// Retuns the keyexpr for liveliness subscription.
+/// Returns the keyexpr for liveliness subscription.
 std::string subscription_token(size_t domain_id);
 
 ///=============================================================================
@@ -96,7 +96,7 @@ enum class EntityType : uint8_t
  *  <namespace> - The ROS namespace for this entity.  If the namespace is absolute, this function will add in an _ for later parsing reasons.
  *  <nodename> - The ROS node name for this entity.
  *
- * For entities with topic infomation, the liveliness token keyexpr have additional fields:
+ * For entities with topic information, the liveliness token keyexpr have additional fields:
  *
  * <ADMIN_SPACE>/<domainid>/<zid>/<id>/<entity>/<namespace>/<nodename>/<topic_name>/<topic_type>/<topic_type_hash>/<topic_qos>
  *  <topic_name> - The ROS topic name for this entity.

rmw_zenoh_cpp/src/detail/ordered_hash.hpp

@@ -1457,7 +1457,7 @@ class ordered_hash : private Hash, private KeyEqual {
 #endif
 
     /*
-     * The insertion didn't happend at the end of the m_values container,
+     * The insertion didn't happened at the end of the m_values container,
      * we need to shift the indexes in m_buckets_data.
      */
     if (index_insert_position != m_values.size() - 1) {
@@ -1661,7 +1661,7 @@ class ordered_hash : private Hash, private KeyEqual {
   static constexpr float REHASH_ON_HIGH_NB_PROBES__MIN_LOAD_FACTOR = 0.15f;
 
   /**
-   * Protocol version currenlty used for serialization.
+   * Protocol version currently used for serialization.
    */
   static const slz_size_type SERIALIZATION_PROTOCOL_VERSION = 1;
 

rmw_zenoh_cpp/src/detail/rmw_wait_set_data.hpp

@@ -29,7 +29,7 @@ struct rmw_wait_set_data_t
   // there isn't a race in rmw_wait().  That could happen because of the following sequence:
   //
   // 1. Without taking a lock, rmw_wait() checks if any of the entities in the wait_set are ready,
-  //    and if not attachs the condition_variable to it.
+  //    and if not attaches the condition_variable to it.
   // 2. It then takes the lock, and sleeps on the condition_variable.
   //
   // However, doing step 1 takes time, and checks in a particular order: guard_conditions, events,

rmw_zenoh_cpp/src/detail/zenoh_config.hpp

@@ -57,7 +57,7 @@ std::optional<zenoh::Config> get_z_config(const ConfigurableEntity & entity);
 /// @details The behavior is as follows:
 ///   - If not set or 0, the max value is returned.
 ///   - If less than 0, std::nullopt is returned.
-///   - Else value of environemnt variable is returned.
+///   - Else value of environment variable is returned.
 /// @return The number of times to try connecting to a zenoh router and
 ///   std::nullopt if establishing a connection to a router is not required.
 std::optional<uint64_t> zenoh_router_check_attempts();

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -395,6 +395,10 @@ rmw_create_publisher(
     context_impl,
     "unable to get rmw_context_impl_s",
     return nullptr);
+  if (context_impl->is_shutdown()) {
+    RMW_SET_ERROR_MSG("context_impl is shutdown");
+    return nullptr;
+  }
   if (!context_impl->session_is_valid()) {
     RMW_SET_ERROR_MSG("zenoh session is invalid");
     return nullptr;
@@ -936,6 +940,10 @@ rmw_create_subscription(
     context_impl,
     "unable to get rmw_context_impl_s",
     return nullptr);
+  if (context_impl->is_shutdown()) {
+    RMW_SET_ERROR_MSG("context_impl is shutdown");
+    return nullptr;
+  }
   if (!context_impl->session_is_valid()) {
     RMW_SET_ERROR_MSG("zenoh session is invalid");
     return nullptr;
@@ -1233,12 +1241,12 @@ rmw_take_sequence(
   }
 
   if (count > message_sequence->capacity) {
-    RMW_SET_ERROR_MSG("Insuffient capacity in message_sequence");
+    RMW_SET_ERROR_MSG("Insufficient capacity in message_sequence");
     return RMW_RET_INVALID_ARGUMENT;
   }
 
   if (count > message_info_sequence->capacity) {
-    RMW_SET_ERROR_MSG("Insuffient capacity in message_info_sequence");
+    RMW_SET_ERROR_MSG("Insufficient capacity in message_info_sequence");
     return RMW_RET_INVALID_ARGUMENT;
   }
 
@@ -1439,6 +1447,10 @@ rmw_create_client(
     context_impl,
     "unable to get rmw_context_impl_s",
     return nullptr);
+  if (context_impl->is_shutdown()) {
+    RMW_SET_ERROR_MSG("context_impl is shutdown");
+    return nullptr;
+  }
   if (!context_impl->session_is_valid()) {
     RMW_SET_ERROR_MSG("zenoh session is invalid");
     return nullptr;
@@ -1701,6 +1713,10 @@ rmw_create_service(
     context_impl,
     "unable to get rmw_context_impl_s",
     return nullptr);
+  if (context_impl->is_shutdown()) {
+    RMW_SET_ERROR_MSG("context_impl is shutdown");
+    return nullptr;
+  }
   if (!context_impl->session_is_valid()) {
     RMW_SET_ERROR_MSG("zenoh session is invalid");
     return nullptr;
@@ -2581,7 +2597,7 @@ rmw_service_server_is_available(
     static_cast<rmw_zenoh_cpp::ClientData *>(client->data);
   if (client_data == nullptr) {
     RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
-      "Unable to retreive client_data from client for service %s", client->service_name);
+      "Unable to retrieve client_data from client for service %s", client->service_name);
     return RMW_RET_INVALID_ARGUMENT;
   }
 

zenoh_cpp_vendor/CMakeLists.txt

@@ -17,9 +17,12 @@ find_package(ament_cmake_vendor_package REQUIRED)
 # when expanded.
 set(ZENOHC_CARGO_FLAGS "--no-default-features$<SEMICOLON>--features=shared-memory zenoh/transport_compression zenoh/transport_tcp zenoh/transport_tls")
 
+# Set VCS_VERSION to include latest changes from zenoh/zenoh-c to benefit from :
+# - https://github.com/eclipse-zenoh/zenoh/pull/1685 (Fix deadlock in advanced subscription undeclaration)
+# - https://github.com/eclipse-zenoh/zenoh/pull/1696 (Fix SHM Garbage Collection (GC) policy)
 ament_vendor(zenoh_c_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-c.git
-  VCS_VERSION 57d5e4d31d9b38fef34d7bcad3d3e54869c4ce73
+  VCS_VERSION 61d8fcc136ce4ed36d921a32244da4f3d81a6097
   CMAKE_ARGS
     "-DZENOHC_CARGO_FLAGS=${ZENOHC_CARGO_FLAGS}"
     "-DZENOHC_BUILD_WITH_UNSTABLE_API=TRUE"
@@ -28,11 +31,12 @@ ament_vendor(zenoh_c_vendor
 
 ament_export_dependencies(zenohc)
 
-# Set VCS_VERSION to include latest changes from zenoh-c to benefit from :
+# Set VCS_VERSION to include latest changes from zenoh-cpp to benefit from :
 # - https://github.com/eclipse-zenoh/zenoh-cpp/pull/342 (Fix include what you use)
+# - https://github.com/eclipse-zenoh/zenoh-cpp/pull/363 (Fix memory leak in string deserialization)
 ament_vendor(zenoh_cpp_vendor
   VCS_URL https://github.com/eclipse-zenoh/zenoh-cpp
-  VCS_VERSION 964b64dc8b935a43147287199e7bb12da7b141e6
+  VCS_VERSION 05942637c29d3346ad18bab5a178aeebf4be5d62
   CMAKE_ARGS
     -DZENOHCXX_ZENOHC=OFF
 )