Updates to compile against Humble. (#388)

* Updates to compile against Humble. There are 5 main changes in here: 1. Humble does not support type hashes. Rather than change all of the liveliness token handling (which will make backports in the future harder), we just remove the code that computes it, and instead set it to a constant string. 2. The definition of RMW_GID_STORAGE_SIZE in Humble is wonky, and set to 24 for some ancient historical reasons. We don't actually want to do that, so just hard-code 16. 3. Some of the events in modern ROS 2 aren't supported in Humble, so remove the code for handling them. 4. There are a few APIs dealing with dynamic messages that aren't supported in Humble. 5. There is at least one QOS policy (best available) which doesn't exist in Humble. With all of these changes in, I'm able to compile and run basic programs against Humble. Signed-off-by: Chris Lalancette <[email protected]> * Also update the GitHub workflows. Signed-off-by: Chris Lalancette <[email protected]> * Linter fixes. Signed-off-by: Chris Lalancette <[email protected]> * Update README Signed-off-by: Yadunund <[email protected]> --------- Signed-off-by: Chris Lalancette <[email protected]> Signed-off-by: Yadunund <[email protected]> Co-authored-by: Yadunund <[email protected]>
ros2 · Jan 2, 2025 · e2780c2 · e2780c2
1 parent fb06619
commit e2780c2
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diff --git a/.github/workflows/build.yaml b/.github/workflows/build.yaml
@@ -2,7 +2,7 @@ name: build
 on:
   pull_request:
   push:
-    branches: [ rolling ]
+    branches: [ humble ]
   workflow_dispatch:
   schedule:
     # Run every morning to detect flakiness and broken dependencies
@@ -17,17 +17,14 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          # Rolling (source)
-          - ROS_DISTRO: rolling
-            BUILD_TYPE: source
-          # Jazzy (binary)
-          - ROS_DISTRO: jazzy
+          # Humble (binary)
+          - ROS_DISTRO: humble
             BUILD_TYPE: binary
     env:
       ROS2_REPOS_FILE_URL: 'https://raw.githubusercontent.com/ros2/ros2/${{ matrix.ROS_DISTRO }}/ros2.repos'
     runs-on: ubuntu-latest
     container:
-      image: ${{ matrix.BUILD_TYPE == 'binary' && format('ros:{0}-ros-base', matrix.ROS_DISTRO) || 'ubuntu:noble' }}
+      image: ${{ matrix.BUILD_TYPE == 'binary' && format('ros:{0}-ros-base', matrix.ROS_DISTRO) || 'ubuntu:jammy' }}
     steps:
     - uses: ros-tooling/[email protected]
       if: ${{ matrix.BUILD_TYPE == 'source' }}

diff --git a/.github/workflows/style.yaml b/.github/workflows/style.yaml
@@ -2,7 +2,7 @@ name: style
 on:
   pull_request:
   push:
-    branches: [ rolling ]
+    branches: [ humble ]
 defaults:
   run:
     shell: bash
@@ -12,7 +12,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        distro: ['jazzy', 'rolling']
+        distro: ['humble']
     container:
       image: ros:${{ matrix.distro }}-ros-base
     timeout-minutes: 30

diff --git a/README.md b/README.md
@@ -1,7 +1,7 @@
 # rmw_zenoh
 
-[![build](https://github.com/ros2/rmw_zenoh/actions/workflows/build.yaml/badge.svg)](https://github.com/ros2/rmw_zenoh/actions/workflows/build.yaml)
-[![style](https://github.com/ros2/rmw_zenoh/actions/workflows/style.yaml/badge.svg)](https://github.com/ros2/rmw_zenoh/actions/workflows/style.yaml)
+[![build](https://github.com/ros2/rmw_zenoh/actions/workflows/build.yaml/badge.svg?branch=humble)](https://github.com/ros2/rmw_zenoh/actions/workflows/build.yaml)
+[![style](https://github.com/ros2/rmw_zenoh/actions/workflows/style.yaml/badge.svg?branch=humble)](https://github.com/ros2/rmw_zenoh/actions/workflows/style.yaml)
 
 A ROS 2 RMW implementation based on Zenoh that is written using the zenoh-cpp bindings.
 
@@ -10,8 +10,9 @@ A ROS 2 RMW implementation based on Zenoh that is written using the zenoh-cpp bi
 For information about the Design please visit [design](docs/design.md) page.
 
 ## Requirements
-- [ROS 2](https://docs.ros.org): Rolling/Jazzy/Iron
+- [ROS 2](https://docs.ros.org)
 
+> Note: See available distro branches, eg. `jazzy`, for supported ROS 2 distributions.
 
 ## Setup
 
@@ -22,11 +23,12 @@ The `ZENOHC_CARGO_FLAGS` CMake argument may be overwritten with other features i
 See [zenoh_cpp_vendor/CMakeLists.txt](./zenoh_cpp_vendor/CMakeLists.txt) for more details.
 
 ```bash
+# replace <DISTRO> with ROS 2 distro of choice
 mkdir ~/ws_rmw_zenoh/src -p && cd ~/ws_rmw_zenoh/src
-git clone https://github.com/ros2/rmw_zenoh.git
+git clone https://github.com/ros2/rmw_zenoh.git -b <DISTRO>
 cd ~/ws_rmw_zenoh
-rosdep install --from-paths src --ignore-src --rosdistro <DISTRO> -y # replace <DISTRO> with ROS 2 distro of choice
-source /opt/ros/<DISTRO>/setup.bash # replace <DISTRO> with ROS 2 distro of choice
+rosdep install --from-paths src --ignore-src --rosdistro <DISTRO> -y
+source /opt/ros/<DISTRO>/setup.bash
 colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
 ```
 

diff --git a/rmw_zenoh_cpp/CMakeLists.txt b/rmw_zenoh_cpp/CMakeLists.txt
@@ -94,7 +94,7 @@ if(BUILD_TESTING)
 
   set(_linter_excludes src/detail/ordered_hash.hpp src/detail/ordered_map.hpp)
 
-  ament_copyright(EXCLUDE src/detail/simplified_xxhash3.cpp src/detail/simplified_xxhash3.hpp)
+  ament_copyright(EXCLUDE src/detail/simplified_xxhash3.cpp src/detail/simplified_xxhash3.hpp ${_linter_excludes})
   ament_cpplint(EXCLUDE ${_linter_excludes})
   ament_lint_cmake()
   ament_uncrustify(EXCLUDE ${_linter_excludes})

diff --git a/rmw_zenoh_cpp/src/detail/attachment_helpers.cpp b/rmw_zenoh_cpp/src/detail/attachment_helpers.cpp
@@ -32,7 +32,7 @@ namespace rmw_zenoh_cpp
 AttachmentData::AttachmentData(
   const int64_t sequence_number,
   const int64_t source_timestamp,
-  const std::array<uint8_t, RMW_GID_STORAGE_SIZE> source_gid)
+  const std::array<uint8_t, 16> source_gid)
 : sequence_number_(sequence_number),
   source_timestamp_(source_timestamp),
   source_gid_(source_gid),
@@ -61,7 +61,7 @@ int64_t AttachmentData::source_timestamp() const
 }
 
 ///=============================================================================
-std::array<uint8_t, RMW_GID_STORAGE_SIZE> AttachmentData::copy_gid() const
+std::array<uint8_t, 16> AttachmentData::copy_gid() const
 {
   return source_gid_;
 }
@@ -103,7 +103,7 @@ AttachmentData::AttachmentData(const zenoh::Bytes & bytes)
   if (source_gid_str != "source_gid") {
     throw std::runtime_error("source_gid is not found in the attachment.");
   }
-  this->source_gid_ = deserializer.deserialize<std::array<uint8_t, RMW_GID_STORAGE_SIZE>>();
+  this->source_gid_ = deserializer.deserialize<std::array<uint8_t, 16>>();
   gid_hash_ = hash_gid(this->source_gid_);
 }
 }  // namespace rmw_zenoh_cpp
diff --git a/rmw_zenoh_cpp/src/detail/attachment_helpers.hpp b/rmw_zenoh_cpp/src/detail/attachment_helpers.hpp
@@ -31,22 +31,22 @@ class AttachmentData final
   AttachmentData(
     const int64_t sequence_number,
     const int64_t source_timestamp,
-    const std::array<uint8_t, RMW_GID_STORAGE_SIZE> source_gid);
+    const std::array<uint8_t, 16> source_gid);
 
   explicit AttachmentData(const zenoh::Bytes & bytes);
   explicit AttachmentData(AttachmentData && data);
 
   int64_t sequence_number() const;
   int64_t source_timestamp() const;
-  std::array<uint8_t, RMW_GID_STORAGE_SIZE> copy_gid() const;
+  std::array<uint8_t, 16> copy_gid() const;
   size_t gid_hash() const;
 
   zenoh::Bytes serialize_to_zbytes();
 
 private:
   int64_t sequence_number_;
   int64_t source_timestamp_;
-  std::array<uint8_t, RMW_GID_STORAGE_SIZE> source_gid_;
+  std::array<uint8_t, 16> source_gid_;
   size_t gid_hash_;
 };
 }  // namespace rmw_zenoh_cpp

diff --git a/rmw_zenoh_cpp/src/detail/event.cpp b/rmw_zenoh_cpp/src/detail/event.cpp
@@ -33,11 +33,6 @@ static const std::unordered_map<rmw_event_type_t, rmw_zenoh_cpp::rmw_zenoh_event
   {RMW_EVENT_REQUESTED_QOS_INCOMPATIBLE, rmw_zenoh_cpp::ZENOH_EVENT_REQUESTED_QOS_INCOMPATIBLE},
   {RMW_EVENT_OFFERED_QOS_INCOMPATIBLE, rmw_zenoh_cpp::ZENOH_EVENT_OFFERED_QOS_INCOMPATIBLE},
   {RMW_EVENT_MESSAGE_LOST, rmw_zenoh_cpp::ZENOH_EVENT_MESSAGE_LOST},
-  {RMW_EVENT_SUBSCRIPTION_MATCHED, rmw_zenoh_cpp::ZENOH_EVENT_SUBSCRIPTION_MATCHED},
-  {RMW_EVENT_PUBLICATION_MATCHED, rmw_zenoh_cpp::ZENOH_EVENT_PUBLICATION_MATCHED},
-  {RMW_EVENT_SUBSCRIPTION_INCOMPATIBLE_TYPE,
-    rmw_zenoh_cpp::ZENOH_EVENT_SUBSCRIPTION_INCOMPATIBLE_TYPE},
-  {RMW_EVENT_PUBLISHER_INCOMPATIBLE_TYPE, rmw_zenoh_cpp::ZENOH_EVENT_PUBLISHER_INCOMPATIBLE_TYPE}
   // TODO(clalancette): Implement remaining events
 };
 }  // namespace

diff --git a/rmw_zenoh_cpp/src/detail/graph_cache.cpp b/rmw_zenoh_cpp/src/detail/graph_cache.cpp
@@ -33,8 +33,6 @@
 #include "rmw/validate_namespace.h"
 #include "rmw/validate_node_name.h"
 
-#include "rosidl_runtime_c/type_hash.h"
-
 #include "graph_cache.hpp"
 #include "logging_macros.hpp"
 
@@ -233,7 +231,8 @@ void GraphCache::handle_matched_events_for_put(
       }
       // Update event counters for the new entity.
       if (is_entity_local(*entity) && match_count_for_entity > 0) {
-        update_event_counters(entity,
+        update_event_counters(
+          entity,
           ZENOH_EVENT_PUBLICATION_MATCHED,
           match_count_for_entity);
       }
@@ -1124,18 +1123,7 @@ rmw_ret_t GraphCache::get_entities_info_by_topic(
           return ret;
         }
 
-        rosidl_type_hash_t type_hash;
-        rcutils_ret_t rc_ret = rosidl_parse_type_hash_string(
-          topic_data->info_.type_hash_.c_str(),
-          &type_hash);
-        if (RCUTILS_RET_OK == rc_ret) {
-          ret = rmw_topic_endpoint_info_set_topic_type_hash(&ep, &type_hash);
-          if (RMW_RET_OK != ret) {
-            return ret;
-          }
-        }
-
-        memcpy(ep.endpoint_gid, entity->copy_gid().data(), RMW_GID_STORAGE_SIZE);
+        memcpy(ep.endpoint_gid, entity->copy_gid().data(), 16);
 
         endpoints.push_back(ep);
       }

diff --git a/rmw_zenoh_cpp/src/detail/liveliness_utils.cpp b/rmw_zenoh_cpp/src/detail/liveliness_utils.cpp
@@ -179,8 +179,6 @@ static const std::unordered_map<std::string, rmw_qos_liveliness_policy_e> str_to
   {std::to_string(RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC),
     RMW_QOS_POLICY_LIVELINESS_MANUAL_BY_TOPIC},
   {std::to_string(RMW_QOS_POLICY_LIVELINESS_UNKNOWN), RMW_QOS_POLICY_LIVELINESS_UNKNOWN},
-  {std::to_string(RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE),
-    RMW_QOS_POLICY_LIVELINESS_BEST_AVAILABLE}
 };
 
 std::vector<std::string> split_keyexpr(
@@ -438,8 +436,9 @@ Entity::Entity(
   simplified_XXH128_hash_t keyexpr_gid =
     simplified_XXH3_128bits(this->liveliness_keyexpr_.c_str(), this->liveliness_keyexpr_.length());
   memcpy(this->gid_.data(), &keyexpr_gid.low64, sizeof(keyexpr_gid.low64));
-  memcpy(this->gid_.data() + sizeof(keyexpr_gid.low64), &keyexpr_gid.high64,
-        sizeof(keyexpr_gid.high64));
+  memcpy(
+    this->gid_.data() + sizeof(keyexpr_gid.low64), &keyexpr_gid.high64,
+    sizeof(keyexpr_gid.high64));
 
   // We also hash the liveliness keyexpression into a size_t that we use to index into our maps.
   this->keyexpr_hash_ = hash_gid(this->gid_);
@@ -631,7 +630,7 @@ std::string Entity::liveliness_keyexpr() const
 }
 
 ///=============================================================================
-std::array<uint8_t, RMW_GID_STORAGE_SIZE> Entity::copy_gid() const
+std::array<uint8_t, 16> Entity::copy_gid() const
 {
   return gid_;
 }
@@ -672,7 +671,7 @@ std::string demangle_name(const std::string & input)
 }  // namespace liveliness
 
 ///=============================================================================
-size_t hash_gid(const std::array<uint8_t, RMW_GID_STORAGE_SIZE> gid)
+size_t hash_gid(const std::array<uint8_t, 16> gid)
 {
   std::stringstream hash_str;
   hash_str << std::hex;

diff --git a/rmw_zenoh_cpp/src/detail/liveliness_utils.hpp b/rmw_zenoh_cpp/src/detail/liveliness_utils.hpp
@@ -173,7 +173,7 @@ class Entity
   // Two entities are equal if their keyexpr_hash are equal.
   bool operator==(const Entity & other) const;
 
-  std::array<uint8_t, RMW_GID_STORAGE_SIZE> copy_gid() const;
+  std::array<uint8_t, 16> copy_gid() const;
 
 private:
   Entity(
@@ -192,7 +192,7 @@ class Entity
   NodeInfo node_info_;
   std::optional<TopicInfo> topic_info_;
   std::string liveliness_keyexpr_;
-  std::array<uint8_t, RMW_GID_STORAGE_SIZE> gid_{};
+  std::array<uint8_t, 16> gid_{};
 };
 
 ///=============================================================================
@@ -235,7 +235,7 @@ std::optional<rmw_qos_profile_t> keyexpr_to_qos(const std::string & keyexpr);
 }  // namespace liveliness
 
 ///=============================================================================
-size_t hash_gid(const std::array<uint8_t, RMW_GID_STORAGE_SIZE> gid);
+size_t hash_gid(const std::array<uint8_t, 16> gid);
 }  // namespace rmw_zenoh_cpp
 
 ///=============================================================================

diff --git a/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_client_data.cpp
@@ -66,9 +66,6 @@ std::shared_ptr<ClientData> ClientData::make(
     return nullptr;
   }
 
-  rcutils_allocator_t * allocator = &node->context->options.allocator;
-
-  const rosidl_type_hash_t * type_hash = type_support->get_type_hash_func(type_support);
   auto service_members = static_cast<const service_type_support_callbacks_t *>(type_support->data);
   auto request_members = static_cast<const message_type_support_callbacks_t *>(
     service_members->request_members_->data);
@@ -92,20 +89,9 @@ std::shared_ptr<ClientData> ClientData::make(
     return nullptr;
   }
 
-  // Convert the type hash to a string so that it can be included in the keyexpr.
-  char * type_hash_c_str = nullptr;
-  rcutils_ret_t stringify_ret = rosidl_stringify_type_hash(
-    type_hash,
-    *allocator,
-    &type_hash_c_str);
-  if (RCUTILS_RET_BAD_ALLOC == stringify_ret) {
-    // rosidl_stringify_type_hash already set the error
-    return nullptr;
-  }
-  auto free_type_hash_c_str = rcpputils::make_scope_exit(
-    [&allocator, &type_hash_c_str]() {
-      allocator->deallocate(type_hash_c_str, allocator->state);
-    });
+  // Humble doesn't support type hash, but we leave it in place as a constant so we don't have to
+  // change the graph and liveliness token code.
+  const char * type_hash_c_str = "TypeHashNotSupported";
 
   std::size_t domain_id = node_info.domain_id_;
   auto entity = liveliness::Entity::make(
@@ -203,7 +189,7 @@ bool ClientData::liveliness_is_valid() const
 }
 
 ///=============================================================================
-std::array<uint8_t, RMW_GID_STORAGE_SIZE> ClientData::copy_gid() const
+std::array<uint8_t, 16> ClientData::copy_gid() const
 {
   return entity_->copy_gid();
 }
@@ -307,7 +293,7 @@ rmw_ret_t ClientData::take_response(
   memcpy(
     request_header->request_id.writer_guid,
     attachment.copy_gid().data(),
-    RMW_GID_STORAGE_SIZE);
+    16);
   request_header->received_timestamp = latest_reply->get_received_timestamp();
 
   *taken = true;
@@ -364,7 +350,7 @@ rmw_ret_t ClientData::send_request(
 
   // Send request
   zenoh::Session::GetOptions opts = zenoh::Session::GetOptions::create_default();
-  std::array<uint8_t, RMW_GID_STORAGE_SIZE> local_gid = entity_->copy_gid();
+  std::array<uint8_t, 16> local_gid = entity_->copy_gid();
   opts.attachment = rmw_zenoh_cpp::create_map_and_set_sequence_num(*sequence_id, local_gid);
   opts.target = Z_QUERY_TARGET_ALL_COMPLETE;
   // The default timeout for a z_get query is 10 seconds and if a response is not received within

diff --git a/rmw_zenoh_cpp/src/detail/rmw_client_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_client_data.hpp
@@ -65,7 +65,7 @@ class ClientData final : public std::enable_shared_from_this<ClientData>
   bool liveliness_is_valid() const;
 
   // Copy the GID of this ClientData into an rmw_gid_t.
-  std::array<uint8_t, RMW_GID_STORAGE_SIZE> copy_gid() const;
+  std::array<uint8_t, 16> copy_gid() const;
 
   // Add a new ZenohReply to the queue.
   void add_new_reply(std::unique_ptr<rmw_zenoh_cpp::ZenohReply> reply);

diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.cpp
@@ -60,27 +60,12 @@ std::shared_ptr<PublisherData> PublisherData::make(
     return nullptr;
   }
 
-  rcutils_allocator_t * allocator = &node->context->options.allocator;
-
-  const rosidl_type_hash_t * type_hash = type_support->get_type_hash_func(type_support);
   auto callbacks = static_cast<const message_type_support_callbacks_t *>(type_support->data);
   auto message_type_support = std::make_unique<MessageTypeSupport>(callbacks);
 
-  // Convert the type hash to a string so that it can be included in
-  // the keyexpr.
-  char * type_hash_c_str = nullptr;
-  rcutils_ret_t stringify_ret = rosidl_stringify_type_hash(
-    type_hash,
-    *allocator,
-    &type_hash_c_str);
-  if (RCUTILS_RET_BAD_ALLOC == stringify_ret) {
-    // rosidl_stringify_type_hash already set the error
-    return nullptr;
-  }
-  auto always_free_type_hash_c_str = rcpputils::make_scope_exit(
-    [&allocator, &type_hash_c_str]() {
-      allocator->deallocate(type_hash_c_str, allocator->state);
-    });
+  // Humble doesn't support type hash, but we leave it in place as a constant so we don't have to
+  // change the graph and liveliness token code.
+  const char * type_hash_c_str = "TypeHashNotSupported";
 
   std::size_t domain_id = node_info.domain_id_;
   auto entity = liveliness::Entity::make(
@@ -328,7 +313,7 @@ liveliness::TopicInfo PublisherData::topic_info() const
   return entity_->topic_info().value();
 }
 
-std::array<uint8_t, RMW_GID_STORAGE_SIZE> PublisherData::copy_gid() const
+std::array<uint8_t, 16> PublisherData::copy_gid() const
 {
   std::lock_guard<std::mutex> lock(mutex_);
   return entity_->copy_gid();

diff --git a/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp b/rmw_zenoh_cpp/src/detail/rmw_publisher_data.hpp
@@ -70,7 +70,7 @@ class PublisherData final
   liveliness::TopicInfo topic_info() const;
 
   // Return a copy of the GID of this publisher.
-  std::array<uint8_t, RMW_GID_STORAGE_SIZE> copy_gid() const;
+  std::array<uint8_t, 16> copy_gid() const;
 
   // Returns true if liveliness token is still valid.
   bool liveliness_is_valid() const;