call rcl content filter fallback #996
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Signed-off-by: Chen Lihui <[email protected]>
fujitatomoya
added
enhancement
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@clalancette @wjwwood about fallback filtering in rcl, that requires new repository ros2/rcl_content_filter_fallback#1, I will be working on the review. |
fujitatomoya
requested changes
Feb 17, 2023
iuhilnehc-ynos
requested review from
audrow,
ivanpauno and
wjwwood
as code owners
Co-authored-by: Tomoya.Fujita <[email protected]> Signed-off-by: Chen Lihui <[email protected]>
Signed-off-by: Chen Lihui <[email protected]>
Signed-off-by: Chen Lihui <[email protected]>
Signed-off-by: Chen Lihui <[email protected]>
iuhilnehc-ynos
changed the title
added 2 commits
February 27, 2023 13:34
Signed-off-by: Chen Lihui <[email protected]>
…back_to_content_filter Signed-off-by: Chen Lihui <[email protected]>
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Try CI for 6 PRs mentioned in #996 (comment)
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rerun CI
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Give it another shot.
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fujitatomoya
approved these changes
Mar 7, 2023
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@iuhilnehc-ynos overall lgtm, i still think we should not use DDS, how about replacing those into RMW implementation?
rcl/src/rcl/subscription.c
Outdated
| // Content filter topic not supported (or not enabled as some failed cases) on rmw | ||
| // implementation. | ||
| // TODO(iuhilnehc-ynos): enable rcl content filter fallback with an environment variable | ||
| // (e.g. FORCE_COMMON_CONTENT_FILTER) regardless of whether cft is enabled on DDS. |
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Suggested change
| // (e.g. FORCE_COMMON_CONTENT_FILTER) regardless of whether cft is enabled on DDS. | |
| // (e.g. FORCE_COMMON_CONTENT_FILTER) regardless of whether cft is enabled on RMW implementation. |
rcl/test/rcl/test_subscription.cpp
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| bool is_cft_support = | ||
| (std::string(rmw_get_implementation_identifier()).find("rmw_connextdds") == 0 || | ||
| std::string(rmw_get_implementation_identifier()).find("rmw_fastrtps_cpp") == 0); | ||
| // rcl CFT will be the fallback if rmw CFT is unsupported on DDS |
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Suggested change
| // rcl CFT will be the fallback if rmw CFT is unsupported on DDS | |
| // rcl CFT will be the fallback if rmw CFT is unsupported on implementation |
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You're right. we should not let users know something about DDS information in |
Signed-off-by: Chen Lihui <[email protected]>
…back_to_content_filter
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Signed-off-by: Chen Lihui [email protected]