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Create branch foxy to support Foxy (#16)
* Remove all feature flags and support Foxy only Signed-off-by: Andrea Sorbini <[email protected]>
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‎README.md

+14-6
Original file line numberDiff line numberDiff line change
@@ -81,12 +81,20 @@ The following table summarizes which branch of the repository should be
8181
checked out in order to compile the RMW implementations for a specific ROS 2
8282
release:
8383

84-
|ROS 2 Release|Branch|
85-
|-------------|------|
86-
|Rolling |`master`|
87-
|Foxy |`master`|
88-
|Eloquent |`dashing`|
89-
|Dashing |`dashing`|
84+
|ROS 2 Release|Branch|Status|
85+
|-------------|------|------|
86+
|Rolling |`master`|Developed|
87+
|Foxy |`foxy`|LTS (May 2023)|
88+
|Eloquent |`eloquent`|EOL (Nov 2020)|
89+
|Dashing |`dashing`|LTS (May 2021)|
90+
91+
Branch `master` is actively developed and maintained. It is used to create
92+
other branches for specific ROS 2 releases (starting from Galactic).
93+
94+
Branches marked as `LTS` will receive updates for critical bug fixes and
95+
important patches only (until they reach `EOL`).
96+
97+
Branches marked as `EOL` will not receive any future updates.
9098

9199
## RTI Connext DDS Requirements
92100

‎rmw_connextdds/CMakeLists.txt

-8
Original file line numberDiff line numberDiff line change
@@ -47,14 +47,6 @@ target_include_directories(${PROJECT_NAME} PRIVATE
4747
target_link_libraries(${PROJECT_NAME}
4848
rmw_connextdds_common::rmw_connextdds_common_pro)
4949

50-
# Unless we need to link the rmw_dds_common shim library generated
51-
# by rmw_connextdds_common (produced if RMW_CONNEXT_PROVIDE_RMW_DDS_COMMON)
52-
# we don't need to call ament_target_dependencies() since we are already
53-
# linking library rmw_connextdds_common_pro above.
54-
if(RMW_CONNEXT_PROVIDE_RMW_DDS_COMMON)
55-
ament_target_dependencies(${PROJECT_NAME} rmw_connextdds_common)
56-
endif()
57-
5850
configure_rmw_library(${PROJECT_NAME})
5951

6052
register_rmw_implementation(

‎rmw_connextdds/src/rmw_api_impl_ndds.cpp

+11-140
Original file line numberDiff line numberDiff line change
@@ -287,40 +287,12 @@ rmw_node_t *
287287
rmw_create_node(
288288
rmw_context_t * context,
289289
const char * name,
290-
const char * ns
291-
#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_DASHING
292-
,
290+
const char * ns,
293291
size_t domain_id,
294-
const rmw_node_security_options_t * security_options
295-
#elif RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
296-
,
297-
size_t domain_id,
298-
const rmw_node_security_options_t * security_options,
299-
bool localhost_only
300-
#elif RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_FOXY
301-
,
302-
size_t domain_id,
303-
bool localhost_only
304-
#endif /* RMW_CONNEXT_RELEASE */
305-
)
292+
bool localhost_only)
306293
{
307294
return rmw_api_connextdds_create_node(
308-
context, name, ns
309-
#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_DASHING
310-
,
311-
domain_id,
312-
security_options
313-
#elif RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
314-
,
315-
domain_id,
316-
security_options,
317-
localhost_only
318-
#elif RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_FOXY
319-
,
320-
domain_id,
321-
localhost_only
322-
#endif /* RMW_CONNEXT_RELEASE */
323-
);
295+
context, name, ns, domain_id, localhost_only);
324296
}
325297

326298

@@ -337,15 +309,6 @@ rmw_node_get_graph_guard_condition(const rmw_node_t * rmw_node)
337309
return rmw_api_connextdds_node_get_graph_guard_condition(rmw_node);
338310
}
339311

340-
#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
341-
342-
rmw_ret_t
343-
rmw_node_assert_liveliness(const rmw_node_t * node)
344-
{
345-
return rmw_api_connextdds_node_assert_liveliness(node);
346-
}
347-
#endif /* RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT */
348-
349312
/*****************************************************************************
350313
* Publication API
351314
*****************************************************************************/
@@ -385,21 +348,11 @@ rmw_publish_loaned_message(
385348
rmw_ret_t
386349
rmw_init_publisher_allocation(
387350
const rosidl_message_type_support_t * type_support,
388-
#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
389-
const rosidl_message_bounds_t * message_bounds,
390-
#else
391351
const rosidl_runtime_c__Sequence__bound * message_bounds,
392-
#endif /* RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT */
393352
rmw_publisher_allocation_t * allocation)
394353
{
395354
return rmw_api_connextdds_init_publisher_allocation(
396-
type_support,
397-
#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
398-
message_bounds,
399-
#else
400-
message_bounds,
401-
#endif /* RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT */
402-
allocation);
355+
type_support, message_bounds, allocation);
403356
}
404357

405358

@@ -416,19 +369,11 @@ rmw_create_publisher(
416369
const rmw_node_t * node,
417370
const rosidl_message_type_support_t * type_supports,
418371
const char * topic_name,
419-
const rmw_qos_profile_t * qos_policies
420-
#if RMW_CONNEXT_HAVE_OPTIONS_PUBSUB
421-
,
422-
const rmw_publisher_options_t * publisher_options
423-
#endif /* RMW_CONNEXT_HAVE_OPTIONS_PUBSUB */
424-
)
372+
const rmw_qos_profile_t * qos_policies,
373+
const rmw_publisher_options_t * publisher_options)
425374
{
426375
return rmw_api_connextdds_create_publisher(
427-
node, type_supports, topic_name, qos_policies
428-
#if RMW_CONNEXT_HAVE_OPTIONS_PUBSUB
429-
, publisher_options
430-
#endif /* RMW_CONNEXT_HAVE_OPTIONS_PUBSUB */
431-
);
376+
node, type_supports, topic_name, qos_policies, publisher_options);
432377
}
433378

434379

@@ -518,21 +463,11 @@ rmw_destroy_publisher(
518463
rmw_ret_t
519464
rmw_get_serialized_message_size(
520465
const rosidl_message_type_support_t * type_supports,
521-
#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
522-
const rosidl_message_bounds_t * message_bounds,
523-
#else
524466
const rosidl_runtime_c__Sequence__bound * message_bounds,
525-
#endif /* RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT */
526467
size_t * size)
527468
{
528469
return rmw_api_connextdds_get_serialized_message_size(
529-
type_supports,
530-
#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
531-
message_bounds,
532-
#else
533-
message_bounds,
534-
#endif /* RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT */
535-
size);
470+
type_supports, message_bounds, size);
536471
}
537472

538473

@@ -564,21 +499,13 @@ rmw_deserialize(
564499
rmw_ret_t
565500
rmw_take_response(
566501
const rmw_client_t * client,
567-
#if RMW_CONNEXT_HAVE_SERVICE_INFO
568502
rmw_service_info_t * request_header,
569-
#else
570-
rmw_request_id_t * request_header,
571-
#endif /* RMW_CONNEXT_HAVE_SERVICE_INFO */
572503
void * ros_response,
573504
bool * taken)
574505
{
575506
return rmw_api_connextdds_take_response(
576507
client,
577-
#if RMW_CONNEXT_HAVE_SERVICE_INFO
578-
request_header,
579-
#else
580508
request_header,
581-
#endif /* RMW_CONNEXT_HAVE_SERVICE_INFO */
582509
ros_response,
583510
taken);
584511
}
@@ -587,21 +514,13 @@ rmw_take_response(
587514
rmw_ret_t
588515
rmw_take_request(
589516
const rmw_service_t * service,
590-
#if RMW_CONNEXT_HAVE_SERVICE_INFO
591517
rmw_service_info_t * request_header,
592-
#else
593-
rmw_request_id_t * request_header,
594-
#endif /* RMW_CONNEXT_HAVE_SERVICE_INFO */
595518
void * ros_request,
596519
bool * taken)
597520
{
598521
return rmw_api_connextdds_take_request(
599522
service,
600-
#if RMW_CONNEXT_HAVE_SERVICE_INFO
601523
request_header,
602-
#else
603-
request_header,
604-
#endif /* RMW_CONNEXT_HAVE_SERVICE_INFO */
605524
ros_request,
606525
taken);
607526
}
@@ -674,21 +593,11 @@ rmw_destroy_service(
674593
rmw_ret_t
675594
rmw_init_subscription_allocation(
676595
const rosidl_message_type_support_t * type_support,
677-
#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
678-
const rosidl_message_bounds_t * message_bounds,
679-
#else
680596
const rosidl_runtime_c__Sequence__bound * message_bounds,
681-
#endif /* RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT */
682597
rmw_subscription_allocation_t * allocation)
683598
{
684599
return rmw_api_connextdds_init_subscription_allocation(
685-
type_support,
686-
#if RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT
687-
message_bounds,
688-
#else
689-
message_bounds,
690-
#endif /* RMW_CONNEXT_RELEASE <= RMW_CONNEXT_RELEASE_ELOQUENT */
691-
allocation);
600+
type_support, message_bounds, allocation);
692601
}
693602

694603

@@ -706,21 +615,10 @@ rmw_create_subscription(
706615
const rosidl_message_type_support_t * type_supports,
707616
const char * topic_name,
708617
const rmw_qos_profile_t * qos_policies,
709-
#if RMW_CONNEXT_HAVE_OPTIONS_PUBSUB
710-
const rmw_subscription_options_t * subscription_options
711-
#else
712-
bool ignore_local_publications
713-
#endif /* RMW_CONNEXT_HAVE_OPTIONS_PUBSUB */
714-
)
618+
const rmw_subscription_options_t * subscription_options)
715619
{
716620
return rmw_api_connextdds_create_subscription(
717-
node, type_supports, topic_name, qos_policies,
718-
#if RMW_CONNEXT_HAVE_OPTIONS_PUBSUB
719-
subscription_options
720-
#else
721-
ignore_local_publications
722-
#endif /* RMW_CONNEXT_HAVE_OPTIONS_PUBSUB */
723-
);
621+
node, type_supports, topic_name, qos_policies, subscription_options);
724622
}
725623

726624

@@ -775,8 +673,6 @@ rmw_take_with_info(
775673
subscription, ros_message, taken, message_info, allocation);
776674
}
777675

778-
#if RMW_CONNEXT_HAVE_TAKE_SEQ
779-
780676
rmw_ret_t
781677
rmw_take_sequence(
782678
const rmw_subscription_t * subscription,
@@ -791,9 +687,6 @@ rmw_take_sequence(
791687
taken, allocation);
792688
}
793689

794-
#endif /* RMW_CONNEXT_HAVE_TAKE_SEQ */
795-
796-
797690
rmw_ret_t
798691
rmw_take_serialized_message(
799692
const rmw_subscription_t * subscription,
@@ -910,25 +803,3 @@ rmw_wait(
910803
return rmw_api_connextdds_wait(
911804
subs, gcs, srvs, cls, evs, wait_set, wait_timeout);
912805
}
913-
914-
915-
/******************************************************************************
916-
* QoS Profile functions
917-
******************************************************************************/
918-
#if RMW_CONNEXT_HAVE_QOS_PROFILE_API
919-
rmw_ret_t
920-
rmw_qos_profile_check_compatible(
921-
const rmw_qos_profile_t publisher_profile,
922-
const rmw_qos_profile_t subscription_profile,
923-
rmw_qos_compatibility_type_t * compatibility,
924-
char * reason,
925-
size_t reason_size)
926-
{
927-
return rmw_api_connextdds_qos_profile_check_compatible(
928-
publisher_profile,
929-
subscription_profile,
930-
compatibility,
931-
reason,
932-
reason_size);
933-
}
934-
#endif /* RMW_CONNEXT_HAVE_QOS_PROFILE_API */

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