Enable the property dds.ros.demangle_topic_and_type_names to announce the demangled topic name as a topic alias

[fgallegosalido]

Description

Enable the property dds.ros.demangle_topic_and_type_names in the Connext RMW to announce the demangled topic name as a topic alias (documentation).

This property enables interoperability with Connext applications using the demangled topic name.

Is this user-facing behavior change?

Users using standalone Connext applications can interoperate with ROS 2 applications using the Connext RMW using the real topic names.

Did you use Generative AI?

No

Additional Information

This change was first introduced in Connext 7.5.0, and it's only enabled for that version onwards. When #218 is completed, we may need to add tests for this feature, but only on our RMW.

[fujitatomoya]

lgtm, this is great improvement for interoperability!

[fujitatomoya]

Pulls: #221
Gist: https://gist.githubusercontent.com/fujitatomoya/66511ab61fae8dce7ca3e9cb58c8e0e8/raw/e554c30a0c47a7edf39b023677c655366396a041/ros2.repos
BUILD args: --packages-above-and-dependencies ‎rmw_connextdds_common
TEST args: --packages-above ‎rmw_connextdds_common
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18437

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[fgallegosalido]

@fujitatomoya it seems the build failures are not related to these changes. Can you launch the build again?

[fujitatomoya]

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[fgallegosalido]

@fujitatomoya this message doesn't really make any sense:

==> /usr/bin/colcon build --base-paths "src" --build-base "build" --install-base "install" --event-handlers console_cohesion+ console_package_list+ --cmake-args -DBUILD_TESTING=ON --no-warn-unused-cli -DINSTALL_EXAMPLES=OFF -DSECURITY=ON -DAPPEND_PROJECT_NAME_TO_INCLUDEDIR=ON --packages-above-and-dependencies ‎rmw_connextdds_common
Package '‎rmw_connextdds_common' specified with --packages-above-and-dependencies was not found

Has anything changed in the CI that may be causing this failure?

Cc: @ahcorde @cottsay

[cottsay]

There is a hidden unicode character \u200e at the beginning of rmw_connextdds_common. You can see it deeper on the build logs, when run_ros2_batch.py dumps the argument list.

No idea how it got there, but if it's present in re-runs, it's likely that it was part of the Jenkins arguments when the job was initially triggered.

[cottsay]

I re-triggered the launcher job, and removed the invisible character from the argument list:

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[fgallegosalido]

@cottsay it's still failing

[cottsay]

My bad, the invisible character was in both the BUILD_ARGS and the TEST_ARGS. Removed from both now:

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[fgallegosalido]

@cottsay the Windows CI failure is unrelated to the Connext RMW. I think this is ready to be merged.

[cottsay]

the Windows CI failure is unrelated to the Connext RMW. I think this is ready to be merged.

CI looks good to me, but I have no context in this repo. I'll defer to @fujitatomoya, who already approved the changes.

[fujitatomoya]

• Linux-aarch64

windows warnings are unrelated, if above comes green, we are good to go merge this.

[fgallegosalido]

@fujitatomoya builds for aarch64 are not going to come clean until ros2/ci#853 is merged. Right now the CI is not building the Connext RMW in ARM architectures

[fujitatomoya]

Ah yeah, i lost it... sorry. merging