robograph-project · emersonknapp · Mar 18, 2026 · Oct 21, 2025 · Nov 17, 2025 · Nov 18, 2025
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,7 @@
+# Workspace folders
+build/
+install/
+log/
+
+# VS Code
+.vscode/
diff --git a/.vscode/settings.json b/.vscode/settings.json
diff --git a/rmw_implementation/CHANGELOG.rst b/rmw_implementation/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package rmw_implementation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+3.1.4 (2025-12-23)
+------------------
+* Updated deprecated ament_index_cpp API (`#272 <https://github.com/ros2/rmw_implementation/issues/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 <https://github.com/ros2/rmw_implementation/issues/238>`_)
+* fix cmake deprecation (`#267 <https://github.com/ros2/rmw_implementation/issues/267>`_)
+* Explain rosidl_typesupport\_{c,cpp} in rmw impl typesupport list (`#265 <https://github.com/ros2/rmw_implementation/issues/265>`_)
+* Contributors: Christophe Bedard, Minju, Lee, mosfet80
+
 3.1.2 (2025-07-29)
 ------------------
 

diff --git 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/rmw_implementation/package.xml b/rmw_implementation/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmw_implementation</name>
-  <version>3.1.2</version>
+  <version>3.1.4</version>
   <description>Proxy implementation of the ROS 2 Middleware Interface.</description>
 
   <maintainer email="william@openrobotics.org">William Woodall</maintainer>
@@ -27,6 +27,7 @@
   <build_depend condition="$DISABLE_GROUPS_WORKAROUND != 1">rmw_cyclonedds_cpp</build_depend>
   <build_depend condition="$DISABLE_GROUPS_WORKAROUND != 1">rmw_fastrtps_cpp</build_depend>
   <build_depend condition="$DISABLE_GROUPS_WORKAROUND != 1">rmw_fastrtps_dynamic_cpp</build_depend>
+  <build_depend condition="$DISABLE_GROUPS_WORKAROUND != 1">rmw_zenoh_cpp</build_depend>
 
   <depend>rmw_implementation_cmake</depend>
 

diff --git a/rmw_implementation/src/functions.cpp b/rmw_implementation/src/functions.cpp
@@ -15,6 +15,7 @@
 #include "functions.hpp"
 
 #include <cstddef>
+#include <filesystem>
 #include <map>
 #include <memory>
 #include <stdexcept>
@@ -34,6 +35,7 @@
 #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"
@@ -108,8 +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<std::string, std::string> packages_with_prefixes = ament_index_cpp::get_resources(
-    "rmw_typesupport");
+  const std::map<std::string, std::filesystem::path> 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);
@@ -770,6 +772,26 @@ 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,
@@ -946,6 +968,8 @@ 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)
@@ -1078,6 +1102,8 @@ 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/CHANGELOG.rst b/test_rmw_implementation/CHANGELOG.rst
@@ -2,6 +2,15 @@
 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 <https://github.com/ros2/rmw_implementation/issues/238>`_)
+* fix cmake deprecation (`#267 <https://github.com/ros2/rmw_implementation/issues/267>`_)
+* Contributors: Minju, Lee, mosfet80
+
 3.1.2 (2025-07-29)
 ------------------
 * Test failing deserialization of invalid sequence length (`#261 <https://github.com/ros2/rmw_implementation/issues/261>`_)

diff --git 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)
 
@@ -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
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>test_rmw_implementation</name>
-  <version>3.1.2</version>
+  <version>3.1.4</version>
   <description>Test suite for ROS middleware API.</description>
 
   <maintainer email="william@openrobotics.org">William Woodall</maintainer>
@@ -14,7 +14,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
-  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <test_depend>osrf_testing_tools_cpp</test_depend>