Use FastDDS Sync as default DDS

[audrow]

Switching the default DDS to FastDDS Sync after the Technical Steering Committee's recent vote (results). You can find the full meeting minutes here: https://discourse.ros.org/t/ros-2-tsc-meeting-minutes-2021-11-18/23209.

This PR relies on ros2/rmw_fastrtps#571.

FYI @JaimeMartin and @MiguelCompany.

[audrow]

• Linux
• Linux-aarch64
• macOS
• Windows
• Windows Debug
• Linux clang

[emersonknapp]

EDIT: def not related - sorry for the noise

Is this change related at all to ros2/ci#601 issue? The Windows CI started failing, and the other activity I see there is related to this. Not sure if that's just a coincidence though

[emersonknapp]

@audrow if you're overriding builds when making newer changes, might make sense to cancel the older ones still running in the queue/runners (unless their results are still relevant). There's a pretty big backup right now since a full windows build takes 3+ hrs, it's hard to tell from this context here if all the builds are needed.

[audrow]

@audrow if you're overriding builds when making newer changes, might make sense to cancel the older ones still running in the queue/runners (unless their results are still relevant). There's a pretty big backup right now since a full windows build takes 3+ hrs, it's hard to tell from this context here if all the builds are needed.

@emersonknapp, it's a good suggestion. I don't think I've left any jobs running. I restarted the Windows jobs, since the previous runs already failed and it looks like it was a connectivity issue.

[emersonknapp]

EDIT: sorry I was slightly misreading the situation, please ignore the noise i am making today

[ros-discourse]

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/ros-2-tsc-meeting-minutes-12-16-2021/23541/1

[audrow]

Here's another run:

• Linux
• Linux-aarch64
• macOS
• Windows

[audrow]

• Linux
• Linux-aarch64
• Windows

[MiguelCompany]

@audrow I just checked locally that merging eProsima/Fast-DDS#2358 fixes the crash on Windows when the tests of tf2_ros_py exit.

[MiguelCompany]

@audrow eProsima/Fast-DDS#2358 has just been merged. Please run CI again, thank you

[clalancette]

Another try at CI:

• Linux
• Linux-aarch64
• Windows

[clalancette]

@MiguelCompany It works! Thanks for the fix.

Here's a few more jobs now to see where we are at:

• Windows Debug
  • Rerun
• Linux Clang
• RHEL
• Linux packaging

[ros-discourse]

This pull request has been mentioned on ROS Discourse. There might be relevant details there:

https://discourse.ros.org/t/ros-2-tsc-meeting-january-20th-2022/23986/1

[clalancette]

All right, with CI mostly green (RHEL is a known problem, and Windows Debug looks a bit flaky), I think we are good to merge this. I'm going to do that and also merge in ros2/rmw_fastrtps#571 at the same time.

[clalancette]

Post-hoc approving.