From 053f90bde286e5aa546a91c7eb026a74fe2df637 Mon Sep 17 00:00:00 2001 From: mosfet80 <10235105+mosfet80@users.noreply.github.com> Date: Tue, 21 Oct 2025 09:53:58 +0200 Subject: [PATCH 01/11] fix cmake deprecation (#267) cmake version < then 3.10 is deprecated Signed-off-by: mosfet80 --- rmw_implementation/CMakeLists.txt | 2 +- test_rmw_implementation/CMakeLists.txt | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/rmw_implementation/CMakeLists.txt b/rmw_implementation/CMakeLists.txt index 2128c5d..78e6403 100644 --- a/rmw_implementation/CMakeLists.txt +++ b/rmw_implementation/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 3.5) +cmake_minimum_required(VERSION 3.20) project(rmw_implementation) diff --git a/test_rmw_implementation/CMakeLists.txt b/test_rmw_implementation/CMakeLists.txt index 3fde428..c565ceb 100644 --- a/test_rmw_implementation/CMakeLists.txt +++ b/test_rmw_implementation/CMakeLists.txt @@ -1,4 +1,4 @@ -cmake_minimum_required(VERSION 3.5) +cmake_minimum_required(VERSION 3.20) project(test_rmw_implementation) From 667563bf5745b1614e84fd3b3cf6acfbdea2da1e Mon Sep 17 00:00:00 2001 From: "Minju, Lee" <70446214+leeminju531@users.noreply.github.com> Date: Mon, 17 Nov 2025 21:42:24 +0900 Subject: [PATCH 02/11] Add rmw_get_clients_info_by_service , rmw_servers_clients_info_by_service (#238) Signed-off-by: Minju, Lee --- rmw_implementation/src/functions.cpp | 25 ++++ .../test/test_graph_api.cpp | 127 ++++++++++++++++++ 2 files changed, 152 insertions(+) diff --git a/rmw_implementation/src/functions.cpp b/rmw_implementation/src/functions.cpp index 6201e03..0c3d7f2 100644 --- a/rmw_implementation/src/functions.cpp +++ b/rmw_implementation/src/functions.cpp @@ -34,6 +34,7 @@ #include "rmw/features.h" #include "rmw/get_network_flow_endpoints.h" #include "rmw/get_node_info_and_types.h" +#include "rmw/get_service_endpoint_info.h" #include "rmw/get_service_names_and_types.h" #include "rmw/get_topic_endpoint_info.h" #include "rmw/get_topic_names_and_types.h" @@ -701,6 +702,26 @@ RMW_INTERFACE_FN( bool, rmw_topic_endpoint_info_array_t *)) +RMW_INTERFACE_FN( + rmw_get_clients_info_by_service, + rmw_ret_t, RMW_RET_ERROR, + 5, ARG_TYPES( + const rmw_node_t *, + rcutils_allocator_t *, + const char *, + bool, + rmw_service_endpoint_info_array_t *)) + +RMW_INTERFACE_FN( + rmw_get_servers_info_by_service, + rmw_ret_t, RMW_RET_ERROR, + 5, ARG_TYPES( + const rmw_node_t *, + rcutils_allocator_t *, + const char *, + bool, + rmw_service_endpoint_info_array_t *)) + RMW_INTERFACE_FN( rmw_qos_profile_check_compatible, rmw_ret_t, RMW_RET_ERROR, @@ -875,6 +896,8 @@ void prefetch_symbols(void) GET_SYMBOL(rmw_set_log_severity) GET_SYMBOL(rmw_get_publishers_info_by_topic) GET_SYMBOL(rmw_get_subscriptions_info_by_topic) + GET_SYMBOL(rmw_get_clients_info_by_service) + GET_SYMBOL(rmw_get_servers_info_by_service) GET_SYMBOL(rmw_qos_profile_check_compatible) GET_SYMBOL(rmw_publisher_get_network_flow_endpoints) GET_SYMBOL(rmw_subscription_get_network_flow_endpoints) @@ -997,6 +1020,8 @@ unload_library() symbol_rmw_set_log_severity = nullptr; symbol_rmw_get_publishers_info_by_topic = nullptr; symbol_rmw_get_subscriptions_info_by_topic = nullptr; + symbol_rmw_get_clients_info_by_service = nullptr; + symbol_rmw_get_servers_info_by_service = nullptr; symbol_rmw_qos_profile_check_compatible = nullptr; symbol_rmw_publisher_get_network_flow_endpoints = nullptr; symbol_rmw_subscription_get_network_flow_endpoints = nullptr; diff --git a/test_rmw_implementation/test/test_graph_api.cpp b/test_rmw_implementation/test/test_graph_api.cpp index 0468158..724c9b7 100644 --- a/test_rmw_implementation/test/test_graph_api.cpp +++ b/test_rmw_implementation/test/test_graph_api.cpp @@ -21,6 +21,7 @@ #include "rmw/error_handling.h" #include "rmw/get_node_info_and_types.h" +#include "rmw/get_service_endpoint_info.h" #include "rmw/get_service_names_and_types.h" #include "rmw/get_topic_endpoint_info.h" #include "rmw/get_topic_names_and_types.h" @@ -835,6 +836,132 @@ TEST_F(TestGraphAPI, get_subscriptions_info_by_topic_with_bad_arguments) { EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; } +TEST_F(TestGraphAPI, get_clients_info_by_service_with_bad_arguments) { + rcutils_allocator_t allocator = rcutils_get_default_allocator(); + constexpr char service_name[] = "/test_service"; + bool no_mangle = false; + rmw_service_endpoint_info_array_t clients_info = + rmw_get_zero_initialized_service_endpoint_info_array(); + + // A null node is an invalid argument. + rmw_ret_t ret = rmw_get_clients_info_by_service( + nullptr, &allocator, service_name, no_mangle, &clients_info); + EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); + rmw_reset_error(); + EXPECT_EQ(RMW_RET_OK, rmw_service_endpoint_info_array_check_zero(&clients_info)); + + // A node from a different implementation is an invalid argument. + const char * implementation_identifier = node->implementation_identifier; + node->implementation_identifier = "not-an-rmw-implementation-identifier"; + ret = rmw_get_clients_info_by_service( + node, &allocator, service_name, no_mangle, &clients_info); + EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret); + node->implementation_identifier = implementation_identifier; + rmw_reset_error(); + EXPECT_EQ(RMW_RET_OK, rmw_service_endpoint_info_array_check_zero(&clients_info)); + + // A null allocator is an invalid argument. + ret = rmw_get_clients_info_by_service( + node, nullptr, service_name, no_mangle, &clients_info); + EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); + rmw_reset_error(); + EXPECT_EQ(RMW_RET_OK, rmw_service_endpoint_info_array_check_zero(&clients_info)); + + // An invalid (zero initialized) allocator is an invalid argument. + rcutils_allocator_t invalid_allocator = rcutils_get_zero_initialized_allocator(); + ret = rmw_get_clients_info_by_service( + node, &invalid_allocator, service_name, no_mangle, &clients_info); + EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); + rmw_reset_error(); + EXPECT_EQ(RMW_RET_OK, rmw_service_endpoint_info_array_check_zero(&clients_info)); + + // A null service name is an invalid argument. + ret = rmw_get_clients_info_by_service( + node, &allocator, nullptr, no_mangle, &clients_info); + EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); + rmw_reset_error(); + EXPECT_EQ(RMW_RET_OK, rmw_service_endpoint_info_array_check_zero(&clients_info)); + + // A null array of service endpoint info is an invalid argument. + ret = rmw_get_clients_info_by_service(node, &allocator, service_name, no_mangle, nullptr); + EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); + rmw_reset_error(); + EXPECT_EQ(RMW_RET_OK, rmw_service_endpoint_info_array_check_zero(&clients_info)); + + // A non zero initialized array of service endpoint info is an invalid argument. + ret = rmw_service_endpoint_info_array_init_with_size(&clients_info, 1u, &allocator); + ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; + ret = rmw_get_clients_info_by_service( + node, &allocator, service_name, no_mangle, &clients_info); + EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); + rmw_reset_error(); + ret = rmw_service_endpoint_info_array_fini(&clients_info, &allocator); + EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; +} + +TEST_F(TestGraphAPI, get_servers_info_by_service_with_bad_arguments) { + rcutils_allocator_t allocator = rcutils_get_default_allocator(); + constexpr char service_name[] = "/test_service"; + bool no_mangle = false; + rmw_service_endpoint_info_array_t servers_info = + rmw_get_zero_initialized_service_endpoint_info_array(); + + // A null node is an invalid argument. + rmw_ret_t ret = rmw_get_servers_info_by_service( + nullptr, &allocator, service_name, no_mangle, &servers_info); + EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); + rmw_reset_error(); + EXPECT_EQ(RMW_RET_OK, rmw_service_endpoint_info_array_check_zero(&servers_info)); + + // A node from a different implementation is an invalid argument. + const char * implementation_identifier = node->implementation_identifier; + node->implementation_identifier = "not-an-rmw-implementation-identifier"; + ret = rmw_get_servers_info_by_service( + node, &allocator, service_name, no_mangle, &servers_info); + EXPECT_EQ(RMW_RET_INCORRECT_RMW_IMPLEMENTATION, ret); + node->implementation_identifier = implementation_identifier; + rmw_reset_error(); + EXPECT_EQ(RMW_RET_OK, rmw_service_endpoint_info_array_check_zero(&servers_info)); + + // A null allocator is an invalid argument. + ret = rmw_get_servers_info_by_service( + node, nullptr, service_name, no_mangle, &servers_info); + EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); + rmw_reset_error(); + EXPECT_EQ(RMW_RET_OK, rmw_service_endpoint_info_array_check_zero(&servers_info)); + + // An invalid (zero initialized) allocator is an invalid argument. + rcutils_allocator_t invalid_allocator = rcutils_get_zero_initialized_allocator(); + ret = rmw_get_servers_info_by_service( + node, &invalid_allocator, service_name, no_mangle, &servers_info); + EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); + rmw_reset_error(); + EXPECT_EQ(RMW_RET_OK, rmw_service_endpoint_info_array_check_zero(&servers_info)); + + // A null service name is an invalid argument. + ret = rmw_get_servers_info_by_service( + node, &allocator, nullptr, no_mangle, &servers_info); + EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); + rmw_reset_error(); + EXPECT_EQ(RMW_RET_OK, rmw_service_endpoint_info_array_check_zero(&servers_info)); + + // A null array of service endpoint info is an invalid argument. + ret = rmw_get_servers_info_by_service(node, &allocator, service_name, no_mangle, nullptr); + EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); + rmw_reset_error(); + EXPECT_EQ(RMW_RET_OK, rmw_service_endpoint_info_array_check_zero(&servers_info)); + + // A non zero initialized array of service endpoint info is an invalid argument. + ret = rmw_service_endpoint_info_array_init_with_size(&servers_info, 1u, &allocator); + ASSERT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; + ret = rmw_get_servers_info_by_service( + node, &allocator, service_name, no_mangle, &servers_info); + EXPECT_EQ(RMW_RET_INVALID_ARGUMENT, ret); + rmw_reset_error(); + ret = rmw_service_endpoint_info_array_fini(&servers_info, &allocator); + EXPECT_EQ(RMW_RET_OK, ret) << rmw_get_error_string().str; +} + TEST_F(TestGraphAPI, count_publishers_with_bad_arguments) { size_t count = 0u; constexpr char topic_name[] = "/test_topic"; From 9941f6e400cee4b8595f9a6bc927736d2f3ad4d9 Mon Sep 17 00:00:00 2001 From: Alejandro Hernandez Cordero Date: Tue, 18 Nov 2025 10:57:04 +0100 Subject: [PATCH 03/11] Changelog Signed-off-by: Alejandro Hernandez Cordero --- rmw_implementation/CHANGELOG.rst | 7 +++++++ test_rmw_implementation/CHANGELOG.rst | 6 ++++++ 2 files changed, 13 insertions(+) diff --git a/rmw_implementation/CHANGELOG.rst b/rmw_implementation/CHANGELOG.rst index 6ca13f1..a4c074a 100644 --- a/rmw_implementation/CHANGELOG.rst +++ b/rmw_implementation/CHANGELOG.rst @@ -2,6 +2,13 @@ Changelog for package rmw_implementation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.1.3 (2025-11-18) +------------------ +* Add rmw_get_clients_info_by_service , rmw_servers_clients_info_by_service (`#238 `_) +* fix cmake deprecation (`#267 `_) +* Explain rosidl_typesupport\_{c,cpp} in rmw impl typesupport list (`#265 `_) +* Contributors: Christophe Bedard, Minju, Lee, mosfet80 + 3.1.2 (2025-07-29) ------------------ diff --git a/test_rmw_implementation/CHANGELOG.rst b/test_rmw_implementation/CHANGELOG.rst index 4d15ac0..1012fb7 100644 --- a/test_rmw_implementation/CHANGELOG.rst +++ b/test_rmw_implementation/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package test_rmw_implementation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.1.3 (2025-11-18) +------------------ +* Add rmw_get_clients_info_by_service , rmw_servers_clients_info_by_service (`#238 `_) +* fix cmake deprecation (`#267 `_) +* Contributors: Minju, Lee, mosfet80 + 3.1.2 (2025-07-29) ------------------ * Test failing deserialization of invalid sequence length (`#261 `_) From 014f10f48def2fe9e5b7489a1ef64c8325271da5 Mon Sep 17 00:00:00 2001 From: Alejandro Hernandez Cordero Date: Tue, 18 Nov 2025 10:57:07 +0100 Subject: [PATCH 04/11] 3.1.3 --- rmw_implementation/package.xml | 2 +- test_rmw_implementation/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/rmw_implementation/package.xml b/rmw_implementation/package.xml index 190cae5..970ac36 100644 --- a/rmw_implementation/package.xml +++ b/rmw_implementation/package.xml @@ -2,7 +2,7 @@ rmw_implementation - 3.1.2 + 3.1.3 Proxy implementation of the ROS 2 Middleware Interface. William Woodall diff --git a/test_rmw_implementation/package.xml b/test_rmw_implementation/package.xml index 7c0670c..f9ce626 100644 --- a/test_rmw_implementation/package.xml +++ b/test_rmw_implementation/package.xml @@ -2,7 +2,7 @@ test_rmw_implementation - 3.1.2 + 3.1.3 Test suite for ROS middleware API. William Woodall From 58ba9e296c48fb4cd65a7a974c0c401dc372d5d0 Mon Sep 17 00:00:00 2001 From: Chris Lalancette Date: Wed, 19 Nov 2025 11:30:26 -0500 Subject: [PATCH 05/11] Remove vscode settings.json file. (#269) It should not be checked in. Signed-off-by: Chris Lalancette --- .vscode/settings.json | 9 --------- 1 file changed, 9 deletions(-) delete mode 100644 .vscode/settings.json diff --git a/.vscode/settings.json b/.vscode/settings.json deleted file mode 100644 index 7aed7f9..0000000 --- a/.vscode/settings.json +++ /dev/null @@ -1,9 +0,0 @@ -{ - "files.associations": { - "*.tcc": "cpp", - "string": "cpp", - "unordered_map": "cpp", - "unordered_set": "cpp", - "string_view": "cpp" - } -} \ No newline at end of file From 6c82ef8b517b04743d139adaa485999c933e7ad0 Mon Sep 17 00:00:00 2001 From: Jasper van Brakel <36795178+SuperJappie08@users.noreply.github.com> Date: Wed, 19 Nov 2025 18:15:48 +0100 Subject: [PATCH 06/11] Add VS Code folder to .gitignore to prevent #269 (#271) Signed-off-by: SuperJappie08 <36795178+SuperJappie08@users.noreply.github.com> --- .gitignore | 7 +++++++ 1 file changed, 7 insertions(+) create mode 100644 .gitignore diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..c4008c2 --- /dev/null +++ b/.gitignore @@ -0,0 +1,7 @@ +# Workspace folders +build/ +install/ +log/ + +# VS Code +.vscode/ From a234d06c24c94968d9346411e1079d312d533b4c Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Alejandro=20Hern=C3=A1ndez=20Cordero?= Date: Tue, 23 Dec 2025 10:27:43 +0100 Subject: [PATCH 07/11] Updated deprecated ament_index_cpp API (#272) Signed-off-by: Alejandro Hernandez Cordero --- rmw_implementation/src/functions.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/rmw_implementation/src/functions.cpp b/rmw_implementation/src/functions.cpp index 0c3d7f2..90cd853 100644 --- a/rmw_implementation/src/functions.cpp +++ b/rmw_implementation/src/functions.cpp @@ -15,6 +15,7 @@ #include "functions.hpp" #include +#include #include #include #include @@ -109,8 +110,8 @@ load_library() // OK, we failed to load the default RMW. Fetch all of the ones we can // find and attempt to load them one-by-one. rmw_reset_error(); - const std::map packages_with_prefixes = ament_index_cpp::get_resources( - "rmw_typesupport"); + const std::map packages_with_prefixes = + ament_index_cpp::get_resources_by_name("rmw_typesupport"); for (const auto & package_prefix_pair : packages_with_prefixes) { if (package_prefix_pair.first != "rmw_implementation") { ret = attempt_to_load_one_rmw(package_prefix_pair.first); From 07efc57838f9e699ee1c766941d54b3727000491 Mon Sep 17 00:00:00 2001 From: Alejandro Hernandez Cordero Date: Tue, 23 Dec 2025 10:58:06 +0100 Subject: [PATCH 08/11] Changelog Signed-off-by: Alejandro Hernandez Cordero --- rmw_implementation/CHANGELOG.rst | 5 +++++ test_rmw_implementation/CHANGELOG.rst | 3 +++ 2 files changed, 8 insertions(+) diff --git a/rmw_implementation/CHANGELOG.rst b/rmw_implementation/CHANGELOG.rst index a4c074a..e3fac0e 100644 --- a/rmw_implementation/CHANGELOG.rst +++ b/rmw_implementation/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package rmw_implementation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.1.4 (2025-12-23) +------------------ +* Updated deprecated ament_index_cpp API (`#272 `_) +* Contributors: Alejandro Hernández Cordero + 3.1.3 (2025-11-18) ------------------ * Add rmw_get_clients_info_by_service , rmw_servers_clients_info_by_service (`#238 `_) diff --git a/test_rmw_implementation/CHANGELOG.rst b/test_rmw_implementation/CHANGELOG.rst index 1012fb7..2471dbf 100644 --- a/test_rmw_implementation/CHANGELOG.rst +++ b/test_rmw_implementation/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package test_rmw_implementation ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +3.1.4 (2025-12-23) +------------------ + 3.1.3 (2025-11-18) ------------------ * Add rmw_get_clients_info_by_service , rmw_servers_clients_info_by_service (`#238 `_) From 8bcc72770ff638b816d723660dafda82fccc28ff Mon Sep 17 00:00:00 2001 From: Alejandro Hernandez Cordero Date: Tue, 23 Dec 2025 10:58:12 +0100 Subject: [PATCH 09/11] 3.1.4 --- rmw_implementation/package.xml | 2 +- test_rmw_implementation/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/rmw_implementation/package.xml b/rmw_implementation/package.xml index 970ac36..31a42e7 100644 --- a/rmw_implementation/package.xml +++ b/rmw_implementation/package.xml @@ -2,7 +2,7 @@ rmw_implementation - 3.1.3 + 3.1.4 Proxy implementation of the ROS 2 Middleware Interface. William Woodall diff --git a/test_rmw_implementation/package.xml b/test_rmw_implementation/package.xml index f9ce626..7e0678b 100644 --- a/test_rmw_implementation/package.xml +++ b/test_rmw_implementation/package.xml @@ -2,7 +2,7 @@ test_rmw_implementation - 3.1.3 + 3.1.4 Test suite for ROS middleware API. William Woodall From 361fda90ad7155596dc9d4f7fac8b3d58f4e6a60 Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Fri, 23 Jan 2026 09:09:18 +0100 Subject: [PATCH 10/11] Add rmw_zenoh_cpp as a build dependency (#273) Signed-off-by: Tony Najjar --- rmw_implementation/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/rmw_implementation/package.xml b/rmw_implementation/package.xml index 31a42e7..8fa6ee0 100644 --- a/rmw_implementation/package.xml +++ b/rmw_implementation/package.xml @@ -27,6 +27,7 @@ rmw_cyclonedds_cpp rmw_fastrtps_cpp rmw_fastrtps_dynamic_cpp + rmw_zenoh_cpp rmw_implementation_cmake From 68c340d14eeb6057d4b8d07c341e9c49e1f583fe Mon Sep 17 00:00:00 2001 From: Julien Enoch Date: Wed, 25 Feb 2026 00:13:27 +0100 Subject: [PATCH 11/11] test_rmw_implementation: add test isolation (#275) * test_rmw_implementation: add test isolation Signed-off-by: Julien Enoch * add missing test_depend on ament_cmake_ros Signed-off-by: Julien Enoch * Fix find_package(ament_cmake_ros) place Signed-off-by: Julien Enoch --------- Signed-off-by: Julien Enoch --- test_rmw_implementation/CMakeLists.txt | 33 +++++++++++++------------- test_rmw_implementation/package.xml | 2 +- 2 files changed, 18 insertions(+), 17 deletions(-) diff --git a/test_rmw_implementation/CMakeLists.txt b/test_rmw_implementation/CMakeLists.txt index c565ceb..9c2cacd 100644 --- a/test_rmw_implementation/CMakeLists.txt +++ b/test_rmw_implementation/CMakeLists.txt @@ -15,6 +15,7 @@ endif() find_package(ament_cmake REQUIRED) if(BUILD_TESTING) + find_package(ament_cmake_ros REQUIRED) find_package(ament_cmake_gtest REQUIRED) find_package(osrf_testing_tools_cpp REQUIRED) @@ -199,100 +200,100 @@ if(BUILD_TESTING) message(STATUS "Creating API tests for '${rmw_implementation}'") set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation}) - ament_add_gtest_test(test_init_shutdown + ament_add_ros_isolated_gtest_test(test_init_shutdown TEST_NAME test_init_shutdown${target_suffix} ENV ${rmw_implementation_env_var} ) - ament_add_gtest_test(test_init_options + ament_add_ros_isolated_gtest_test(test_init_options TEST_NAME test_init_options${target_suffix} ENV ${rmw_implementation_env_var} ) - ament_add_gtest_test(test_create_destroy_node + ament_add_ros_isolated_gtest_test(test_create_destroy_node TEST_NAME test_create_destroy_node${target_suffix} ENV ${rmw_implementation_env_var} ) - ament_add_gtest_test(test_publisher + ament_add_ros_isolated_gtest_test(test_publisher TEST_NAME test_publisher${target_suffix} ENV ${rmw_implementation_env_var} ) - ament_add_gtest_test(test_subscription + ament_add_ros_isolated_gtest_test(test_subscription TEST_NAME test_subscription${target_suffix} TIMEOUT 120 ENV ${rmw_implementation_env_var} ) - ament_add_gtest_test(test_serialize_deserialize + ament_add_ros_isolated_gtest_test(test_serialize_deserialize TEST_NAME test_serialize_deserialize${target_suffix} ENV ${rmw_implementation_env_var} ) - ament_add_gtest_test(test_publisher_allocator + ament_add_ros_isolated_gtest_test(test_publisher_allocator TEST_NAME test_publisher_allocator${target_suffix} ENV ${rmw_implementation_env_var} ) - ament_add_gtest_test(test_subscription_allocator + ament_add_ros_isolated_gtest_test(test_subscription_allocator TEST_NAME test_subscription_allocator${target_suffix} ENV ${rmw_implementation_env_var} ) - ament_add_gtest_test(test_wait_set + ament_add_ros_isolated_gtest_test(test_wait_set TEST_NAME test_wait_set${target_suffix} ENV ${rmw_implementation_env_var} ) - ament_add_gtest_test(test_graph_api + ament_add_ros_isolated_gtest_test(test_graph_api TEST_NAME test_graph_api${target_suffix} TIMEOUT 120 ENV ${rmw_implementation_env_var} ) - ament_add_gtest_test(test_unique_identifiers + ament_add_ros_isolated_gtest_test(test_unique_identifiers TEST_NAME test_unique_identifiers${target_suffix} ENV ${rmw_implementation_env_var} ) - ament_add_gtest_test(test_service + ament_add_ros_isolated_gtest_test(test_service TEST_NAME test_service${target_suffix} ENV ${rmw_implementation_env_var} ) - ament_add_gtest_test(test_client + ament_add_ros_isolated_gtest_test(test_client TEST_NAME test_client${target_suffix} TIMEOUT 120 ENV ${rmw_implementation_env_var} ) - ament_add_gtest_test(test_qos_profile_check_compatible + ament_add_ros_isolated_gtest_test(test_qos_profile_check_compatible TEST_NAME test_qos_profile_check_compatible${target_suffix} ENV ${rmw_implementation_env_var} ) - ament_add_gtest_test(test_duration_infinite + ament_add_ros_isolated_gtest_test(test_duration_infinite TEST_NAME test_duration_infinite${target_suffix} ENV ${rmw_implementation_env_var} ) - ament_add_gtest_test(test_event + ament_add_ros_isolated_gtest_test(test_event TEST_NAME test_event${target_suffix} ENV ${rmw_implementation_env_var} diff --git a/test_rmw_implementation/package.xml b/test_rmw_implementation/package.xml index 7e0678b..5d206cd 100644 --- a/test_rmw_implementation/package.xml +++ b/test_rmw_implementation/package.xml @@ -14,7 +14,7 @@ ament_cmake - ament_cmake_gtest + ament_cmake_ros ament_lint_auto ament_lint_common osrf_testing_tools_cpp