Changes to build against Fast DDS 3.0

rmw_fastrtps_cpp/CMakeLists.txt

@@ -38,10 +38,8 @@ find_package(rmw_dds_common REQUIRED)
 find_package(rmw_fastrtps_shared_cpp REQUIRED)
 find_package(tracetools REQUIRED)
 
-find_package(fastrtps_cmake_module REQUIRED)
-find_package(fastcdr 2 REQUIRED CONFIG)
-find_package(fastrtps 2.13 REQUIRED CONFIG)
-find_package(FastRTPS 2.13 REQUIRED MODULE)
+find_package(fastcdr 2 REQUIRED)
+find_package(fastdds 3 REQUIRED)
 
 find_package(rmw REQUIRED)
 find_package(rosidl_dynamic_typesupport REQUIRED)
@@ -100,7 +98,7 @@ add_library(rmw_fastrtps_cpp
 )
 target_link_libraries(rmw_fastrtps_cpp PUBLIC
   fastcdr
-  fastrtps
+  fastdds
   rmw::rmw
   rmw_fastrtps_shared_cpp::rmw_fastrtps_shared_cpp
   rosidl_runtime_c::rosidl_runtime_c
@@ -153,7 +151,7 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_logging test/test_logging.cpp)
   target_link_libraries(test_logging
-    fastrtps
+    fastdds
     rmw::rmw
     rmw_fastrtps_cpp
   )

rmw_fastrtps_cpp/QUALITY_DECLARATION.md

@@ -133,7 +133,6 @@ Results of the nightly linter tests can be found [here](https://ci.ros2.org/view
 ### Direct Runtime ROS Dependencies [5.i]/[5.ii]
 
 `rmw_fastrtps_cpp` has the following runtime ROS dependencies:
-* `fastrtps_cmake_module`: [QUALITY DECLARATION](https://github.com/ros2/rosidl_typesupport_fastrtps/blob/master/fastrtps_cmake_module/QUALITY_DECLARATION.md)
 * `rcutils`: [QUALITY DECLARATION](https://github.com/ros2/rcutils/blob/master/QUALITY_DECLARATION.md)
 * `rmw`: [QUALITY DECLARATION](https://github.com/ros2/rmw/blob/master/rmw/QUALITY_DECLARATION.md)
 * `rmw_dds_common`: [QUALITY DECLARATION](https://github.com/ros2/rmw_dds_common/blob/master/rmw_dds_common/QUALITY_DECLARATION.md)

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/MessageTypeSupport.hpp

@@ -25,7 +25,9 @@ namespace rmw_fastrtps_cpp
 class MessageTypeSupport : public TypeSupport
 {
 public:
-  explicit MessageTypeSupport(const message_type_support_callbacks_t * members);
+  explicit MessageTypeSupport(
+    const message_type_support_callbacks_t * members,
+    const rosidl_message_type_support_t * type_supports);
 };
 
 }  // namespace rmw_fastrtps_cpp

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/ServiceTypeSupport.hpp

@@ -31,19 +31,23 @@ namespace rmw_fastrtps_cpp
 class ServiceTypeSupport : public TypeSupport
 {
 protected:
-  ServiceTypeSupport();
+  explicit ServiceTypeSupport(const rosidl_message_type_support_t * type_supports);
 };
 
 class RequestTypeSupport : public ServiceTypeSupport
 {
 public:
-  explicit RequestTypeSupport(const service_type_support_callbacks_t * members);
+  explicit RequestTypeSupport(
+    const service_type_support_callbacks_t * members,
+    const rosidl_message_type_support_t * type_supports);
 };
 
 class ResponseTypeSupport : public ServiceTypeSupport
 {
 public:
-  explicit ResponseTypeSupport(const service_type_support_callbacks_t * members);
+  explicit ResponseTypeSupport(
+    const service_type_support_callbacks_t * members,
+    const rosidl_message_type_support_t * type_supports);
 };
 
 }  // namespace rmw_fastrtps_cpp

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/TypeSupport.hpp

@@ -42,7 +42,7 @@ class TypeSupport : public rmw_fastrtps_shared_cpp::TypeSupport
   bool deserializeROSmessage(
     eprosima::fastcdr::Cdr & deser, void * ros_message, const void * impl) const override;
 
-  TypeSupport();
+  explicit TypeSupport(const rosidl_message_type_support_t * type_supports);
 
 protected:
   void set_members(const message_type_support_callbacks_t * members);

rmw_fastrtps_cpp/package.xml

@@ -16,13 +16,11 @@
   <author>Ricardo González</author>
 
   <buildtool_depend>ament_cmake_ros</buildtool_depend>
-  <buildtool_depend>fastrtps_cmake_module</buildtool_depend>
 
   <buildtool_export_depend>ament_cmake</buildtool_export_depend>
 
   <build_depend>fastcdr</build_depend>
-  <build_depend>fastrtps</build_depend>
-  <build_depend>fastrtps_cmake_module</build_depend>
+  <build_depend>fastdds</build_depend>
   <build_depend>rcpputils</build_depend>
   <build_depend>rcutils</build_depend>
   <build_depend>rmw</build_depend>
@@ -37,8 +35,7 @@
   <build_depend>tracetools</build_depend>
 
   <build_export_depend>fastcdr</build_export_depend>
-  <build_export_depend>fastrtps</build_export_depend>
-  <build_export_depend>fastrtps_cmake_module</build_export_depend>
+  <build_export_depend>fastdds</build_export_depend>
   <build_export_depend>rcutils</build_export_depend>
   <build_export_depend>rmw_dds_common</build_export_depend>
   <build_export_depend>rmw_fastrtps_shared_cpp</build_export_depend>

rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake

@@ -14,11 +14,9 @@
 
 # copied from rmw_fastrtps_cpp/rmw_fastrtps_cpp-extras.cmake
 
-find_package(fastrtps_cmake_module REQUIRED)
-find_package(fastcdr 2 REQUIRED CONFIG)
-find_package(fastrtps 2.13 REQUIRED CONFIG)
-find_package(FastRTPS 2.13 REQUIRED MODULE)
+find_package(fastcdr 2 REQUIRED)
+find_package(fastdds 3 REQUIRED)
 
-list(APPEND rmw_fastrtps_cpp_INCLUDE_DIRS ${FastRTPS_INCLUDE_DIR})
+list(APPEND rmw_fastrtps_cpp_INCLUDE_DIRS ${FAST_INCLUDE_DIR})
 # specific order: dependents before dependencies
-list(APPEND rmw_fastrtps_cpp_LIBRARIES fastrtps fastcdr)
+list(APPEND rmw_fastrtps_cpp_LIBRARIES fastdds fastcdr)

rmw_fastrtps_cpp/src/publisher.cpp

@@ -23,7 +23,7 @@
 #include "fastdds/dds/topic/Topic.hpp"
 #include "fastdds/dds/topic/TopicDescription.hpp"
 #include "fastdds/dds/topic/qos/TopicQos.hpp"
-#include "fastdds/rtps/resources/ResourceManagement.h"
+#include "fastdds/rtps/attributes/ResourceManagement.hpp"
 
 #include "rcutils/error_handling.h"
 #include "rcutils/macros.h"
@@ -176,7 +176,7 @@ rmw_fastrtps_cpp::create_publisher(
   /////
   // Create the Type Support struct
   if (!fastdds_type) {
-    auto tsupport = new (std::nothrow) MessageTypeSupport_cpp(callbacks);
+    auto tsupport = new (std::nothrow) MessageTypeSupport_cpp(callbacks, type_supports);
     if (!tsupport) {
       RMW_SET_ERROR_MSG("create_publisher() failed to allocate MessageTypeSupport");
       return nullptr;
@@ -186,18 +186,13 @@ rmw_fastrtps_cpp::create_publisher(
     fastdds_type.reset(tsupport);
   }
 
-  if (ReturnCode_t::RETCODE_OK != fastdds_type.register_type(dds_participant)) {
+  if (eprosima::fastdds::dds::RETCODE_OK != fastdds_type.register_type(dds_participant)) {
     RMW_SET_ERROR_MSG("create_publisher() failed to register type");
     return nullptr;
   }
   info->type_support_ = fastdds_type;
 
-  if (!rmw_fastrtps_shared_cpp::register_type_object(type_supports, type_name)) {
-    RMW_SET_ERROR_MSG_WITH_FORMAT_STRING(
-      "failed to register type object with incompatible type %s",
-      type_name.c_str());
-    return nullptr;
-  }
+  info->type_support_->register_type_object_representation();
 
   /////
   // Create Listener
@@ -244,13 +239,13 @@ rmw_fastrtps_cpp::create_publisher(
   // Modify specific DataWriter Qos
   if (!participant_info->leave_middleware_default_qos) {
     if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
-      writer_qos.publish_mode().kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+      writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
     } else if (participant_info->publishing_mode == publishing_mode_t::SYNCHRONOUS) {
-      writer_qos.publish_mode().kind = eprosima::fastrtps::SYNCHRONOUS_PUBLISH_MODE;
+      writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
     }
 
     writer_qos.endpoint().history_memory_policy =
-      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
     writer_qos.data_sharing().off();
   }
@@ -304,7 +299,9 @@ rmw_fastrtps_cpp::create_publisher(
       rmw_publisher_free(rmw_publisher);
     });
 
-  rmw_publisher->can_loan_messages = info->type_support_->is_plain();
+  // The type support in the RMW implementation is always XCDR1.
+  rmw_publisher->can_loan_messages =
+    info->type_support_->is_plain(eprosima::fastdds::dds::XCDR_DATA_REPRESENTATION);
   rmw_publisher->implementation_identifier = eprosima_fastrtps_identifier;
   rmw_publisher->data = info;
 

rmw_fastrtps_cpp/src/rmw_client.cpp

@@ -26,7 +26,7 @@
 #include "fastdds/dds/topic/TypeSupport.hpp"
 #include "fastdds/dds/topic/qos/TopicQos.hpp"
 
-#include "fastdds/rtps/resources/ResourceManagement.h"
+#include "fastdds/rtps/attributes/ResourceManagement.hpp"
 
 #include "rcpputils/scope_exit.hpp"
 #include "rcutils/error_handling.h"
@@ -216,7 +216,8 @@ rmw_create_client(
   info->response_type_support_impl_ = response_members;
 
   if (!request_fastdds_type) {
-    auto tsupport = new (std::nothrow) RequestTypeSupport_cpp(service_members);
+    auto tsupport = new (std::nothrow) RequestTypeSupport_cpp(service_members,
+        type_supports->request_typesupport);
     if (!tsupport) {
       RMW_SET_ERROR_MSG("create_client() failed to allocate request typesupport");
       return nullptr;
@@ -225,7 +226,8 @@ rmw_create_client(
     request_fastdds_type.reset(tsupport);
   }
   if (!response_fastdds_type) {
-    auto tsupport = new (std::nothrow) ResponseTypeSupport_cpp(service_members);
+    auto tsupport = new (std::nothrow) ResponseTypeSupport_cpp(service_members,
+        type_supports->response_typesupport);
     if (!tsupport) {
       RMW_SET_ERROR_MSG("create_client() failed to allocate response typesupport");
       return nullptr;
@@ -234,13 +236,13 @@ rmw_create_client(
     response_fastdds_type.reset(tsupport);
   }
 
-  if (ReturnCode_t::RETCODE_OK != request_fastdds_type.register_type(dds_participant)) {
+  if (eprosima::fastdds::dds::RETCODE_OK != request_fastdds_type.register_type(dds_participant)) {
     RMW_SET_ERROR_MSG("create_client() failed to register request type");
     return nullptr;
   }
   info->request_type_support_ = request_fastdds_type;
 
-  if (ReturnCode_t::RETCODE_OK != response_fastdds_type.register_type(dds_participant)) {
+  if (eprosima::fastdds::dds::RETCODE_OK != response_fastdds_type.register_type(dds_participant)) {
     RMW_SET_ERROR_MSG("create_client() failed to register response type");
     return nullptr;
   }
@@ -312,7 +314,7 @@ rmw_create_client(
 
   if (!participant_info->leave_middleware_default_qos) {
     reader_qos.endpoint().history_memory_policy =
-      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
     reader_qos.data_sharing().off();
   }
@@ -364,13 +366,13 @@ rmw_create_client(
   // Modify specific DataWriter Qos
   if (!participant_info->leave_middleware_default_qos) {
     if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
-      writer_qos.publish_mode().kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+      writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
     } else if (participant_info->publishing_mode == publishing_mode_t::SYNCHRONOUS) {
-      writer_qos.publish_mode().kind = eprosima::fastrtps::SYNCHRONOUS_PUBLISH_MODE;
+      writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
     }
 
     writer_qos.endpoint().history_memory_policy =
-      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
     writer_qos.data_sharing().off();
   }
@@ -463,7 +465,7 @@ rmw_create_client(
   cleanup_info.cancel();
   if (TRACETOOLS_TRACEPOINT_ENABLED(rmw_client_init)) {
     rmw_gid_t gid{};
-    rmw_fastrtps_shared_cpp::copy_from_fastrtps_guid_to_byte_array(info->reader_guid_, gid.data);
+    rmw_fastrtps_shared_cpp::copy_from_fastdds_guid_to_byte_array(info->reader_guid_, gid.data);
     TRACETOOLS_DO_TRACEPOINT(rmw_client_init, static_cast<const void *>(rmw_client), gid.data);
   }
   return rmw_client;

rmw_fastrtps_cpp/src/rmw_dynamic_message_type_support.cpp

@@ -76,13 +76,13 @@ rmw_serialization_support_init(
   rosidl_dynamic_typesupport_serialization_support_interface_t methods =
     rosidl_dynamic_typesupport_get_zero_initialized_serialization_support_interface();
 
-  ret = rosidl_dynamic_typesupport_fastrtps_init_serialization_support_impl(allocator, &impl);
+  ret = rosidl_dynamic_typesupport_fastdds_init_serialization_support_impl(allocator, &impl);
   if (ret != RCUTILS_RET_OK) {
     RMW_SET_ERROR_MSG_AND_APPEND_PREV_ERROR("Could not initialize serialization support impl");
     goto fail;
   }
 
-  ret = rosidl_dynamic_typesupport_fastrtps_init_serialization_support_interface(
+  ret = rosidl_dynamic_typesupport_fastdds_init_serialization_support_interface(
     allocator, &methods);
   if (ret != RCUTILS_RET_OK) {
     RMW_SET_ERROR_MSG_AND_APPEND_PREV_ERROR("could not initialize serialization support interface");

rmw_fastrtps_cpp/src/rmw_serialize.cpp

@@ -40,7 +40,7 @@ rmw_serialize(
   }
 
   auto callbacks = static_cast<const message_type_support_callbacks_t *>(ts->data);
-  auto tss = MessageTypeSupport_cpp(callbacks);
+  auto tss = MessageTypeSupport_cpp(callbacks, type_support);
   auto data_length = tss.getEstimatedSerializedSize(ros_message, callbacks);
   if (serialized_message->buffer_capacity < data_length) {
     if (rmw_serialized_message_resize(serialized_message, data_length) != RMW_RET_OK) {
@@ -80,7 +80,7 @@ rmw_deserialize(
   }
 
   auto callbacks = static_cast<const message_type_support_callbacks_t *>(ts->data);
-  auto tss = MessageTypeSupport_cpp(callbacks);
+  auto tss = MessageTypeSupport_cpp(callbacks, type_support);
   eprosima::fastcdr::FastBuffer buffer(
     reinterpret_cast<char *>(serialized_message->buffer), serialized_message->buffer_length);
   eprosima::fastcdr::Cdr deser(buffer, eprosima::fastcdr::Cdr::DEFAULT_ENDIAN);

rmw_fastrtps_cpp/src/rmw_service.cpp

@@ -215,7 +215,8 @@ rmw_create_service(
   info->response_type_support_impl_ = response_members;
 
   if (!request_fastdds_type) {
-    auto tsupport = new (std::nothrow) RequestTypeSupport_cpp(service_members);
+    auto tsupport = new (std::nothrow) RequestTypeSupport_cpp(service_members,
+        type_supports->request_typesupport);
     if (!tsupport) {
       RMW_SET_ERROR_MSG("create_service() failed to allocate request typesupport");
       return nullptr;
@@ -224,7 +225,8 @@ rmw_create_service(
     request_fastdds_type.reset(tsupport);
   }
   if (!response_fastdds_type) {
-    auto tsupport = new (std::nothrow) ResponseTypeSupport_cpp(service_members);
+    auto tsupport = new (std::nothrow) ResponseTypeSupport_cpp(service_members,
+        type_supports->response_typesupport);
     if (!tsupport) {
       RMW_SET_ERROR_MSG("create_service() failed to allocate response typesupport");
       return nullptr;
@@ -233,13 +235,13 @@ rmw_create_service(
     response_fastdds_type.reset(tsupport);
   }
 
-  if (ReturnCode_t::RETCODE_OK != request_fastdds_type.register_type(dds_participant)) {
+  if (eprosima::fastdds::dds::RETCODE_OK != request_fastdds_type.register_type(dds_participant)) {
     RMW_SET_ERROR_MSG("create_service() failed to register request type");
     return nullptr;
   }
   info->request_type_support_ = request_fastdds_type;
 
-  if (ReturnCode_t::RETCODE_OK != response_fastdds_type.register_type(dds_participant)) {
+  if (eprosima::fastdds::dds::RETCODE_OK != response_fastdds_type.register_type(dds_participant)) {
     RMW_SET_ERROR_MSG("create_service() failed to register response type");
     return nullptr;
   }
@@ -308,7 +310,7 @@ rmw_create_service(
 
   if (!participant_info->leave_middleware_default_qos) {
     reader_qos.endpoint().history_memory_policy =
-      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
     reader_qos.data_sharing().off();
   }
@@ -364,13 +366,13 @@ rmw_create_service(
   // Modify specific DataWriter Qos
   if (!participant_info->leave_middleware_default_qos) {
     if (participant_info->publishing_mode == publishing_mode_t::ASYNCHRONOUS) {
-      writer_qos.publish_mode().kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
+      writer_qos.publish_mode().kind = eprosima::fastdds::dds::ASYNCHRONOUS_PUBLISH_MODE;
     } else if (participant_info->publishing_mode == publishing_mode_t::SYNCHRONOUS) {
-      writer_qos.publish_mode().kind = eprosima::fastrtps::SYNCHRONOUS_PUBLISH_MODE;
+      writer_qos.publish_mode().kind = eprosima::fastdds::dds::SYNCHRONOUS_PUBLISH_MODE;
     }
 
     writer_qos.endpoint().history_memory_policy =
-      eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
+      eprosima::fastdds::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
 
     writer_qos.data_sharing().off();
   }