William Woodall

race condition in graph changes and service is available

4

I noticed this when debugging the flaky test in `rcl` called `test_rcl_service_server_is_available` which is in the `rcl/test/rcl/test_graph.cpp` file: https://github.com/ros2/rcl/blob/db1353008bff40e87338c95fb46bcb4b85c970d6/rcl/test/rcl/test_graph.cpp#L477 The race seems to be between the graph guard condition being...

[rmw_connext_dynamic] "heap" corruption of the connext dynamic test_subscriber after receiving a message

4

The pub-sub test for connext dynamic on Windows fails. Running the `test_publisher` works, and so does running the `test_subscriber`. But when run together the `test_subscriber crashes (on shutdown it looks...

[connext_dynamic] finish support for wait_for_service

1

Currently local changes to publishers and subscriptions are reflected in Connext dynamic, but not local changes to service clients and service servers, and so `rmw_service_server_is_available()` is still disabled for Connext...

See: https://github.com/ros2/rmw_connext/pull/183#issue-162256750 The proposal from the linked pull request would be, use synchronous publishing: - if the reliability is `BEST_EFFORT` (type bounded or unbounded) - if the reliability is `RELIABLE`...

Still in development, but related to "evolving message types" REP-2011: https://github.com/ros-infrastructure/rep/pull/358

I'm using this to test some things where we combine `ros2 launch` and SROS2.

graph guard condition not triggered when new nodes are discovered

1

Looking at this function which adds/removes node information based on discovery events, it never triggers the node graph guard condition(s): https://github.com/ros2/rmw_fastrtps/blob/2017684f26dce6b85166ccd8df253eabc94acf81/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp#L60-L116 This makes it impossible to wait for a node...

Currently most `rmw_*` functions do not gracefully clean up on an error, i.e. they can leak memory when the function fails. This pertains mostly to the `rmw_create_*` functions. Related: https://github.com/eProsima/ROS-RMW-Fast-RTPS-cpp/pull/32#discussion_r65369237...

PS3 joystick in different mode on some Bluetooth dongles (ros-pkg ticket #2857)

3

With some bluetooth dongles the PS3 joystick returns a limited set of information (button pressure, gyro/accelerometer, battery state is missing). Either support it, or figure out where the difference comes...

Take advantage of REP-0140 tag changes

12

This is obviously blocked on the ratification of REP-0140 and its implementation.