Resolve issues identified while investigating #21

README.md

@@ -24,10 +24,11 @@ For any questions or feedback, feel free to reach out to robotics@rti.com.
 
 ## Quick Start
 
-1. Load ROS into the shell environment, e.g. if you are using Foxy:
+1. Load ROS into the shell environment (Rolling if using the `master` branch,
+   see [Support for different ROS 2 Releases](#support-for-different-ros-2-releases))
 
     ```sh
-    source /opt/ros/foxy/setup.bash
+    source /opt/ros/rolling/setup.bash
     ```
 
 2. Configure RTI Connext DDS Professional and/or RTI Connext DDS Micro on your

rmw_connextdds_common/include/rmw_connextdds/dds_api_ndds.hpp

@@ -41,4 +41,8 @@ typedef RMW_Connext_Uint8ArrayPtrSeq RMW_Connext_UntypedSampleSeq;
 // the guid with 0's.
 #define DDS_SampleIdentity_UNKNOWN      DDS_SAMPLEIDENTITY_DEFAULT
 
+// Convenience function to compare the first 12 bytes of the handle
+#define DDS_InstanceHandle_compare_prefix(ih_a_, ih_b_) \
+  memcmp((ih_a_)->keyHash.value, (ih_b_)->keyHash.value, 12)
+
 #endif  // RMW_CONNEXTDDS__DDS_API_NDDS_HPP_

rmw_connextdds_common/include/rmw_connextdds/dds_api_rtime.hpp

@@ -66,4 +66,8 @@ struct DDS_LifespanQosPolicy;
 // the guid with 0's.
 #define DDS_SampleIdentity_UNKNOWN      DDS_SAMPLE_IDENTITY_UNKNOWN
 
+// Convenience function to compare the first 12 bytes of the handle
+#define DDS_InstanceHandle_compare_prefix(ih_a_, ih_b_) \
+  memcmp((ih_a_)->octet, (ih_b_)->octet, 12)
+
 #endif  // RMW_CONNEXTDDS__DDS_API_RTIME_HPP_

rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp

@@ -368,13 +368,13 @@ class RMW_Connext_Subscriber
   qos(rmw_qos_profile_t * const qos);
 
   rmw_ret_t
-  loan_messages();
+  loan_messages(const bool update_condition = true);
 
   rmw_ret_t
   return_messages();
 
   rmw_ret_t
-  loan_messages_if_needed()
+  loan_messages_if_needed(const bool update_condition = true)
   {
     rmw_ret_t rc = RMW_RET_OK;
 
@@ -389,16 +389,12 @@ class RMW_Connext_Subscriber
         }
       }
       /* loan messages from reader */
-      rc = this->loan_messages();
+      rc = this->loan_messages(update_condition);
       if (RMW_RET_OK != rc) {
         return rc;
       }
     }
 
-    if (this->internal) {
-      return this->status_condition.trigger_loan_guard_condition(this->loan_len > 0);
-    }
-
     return RMW_RET_OK;
   }
 
@@ -441,7 +437,9 @@ class RMW_Connext_Subscriber
   has_data()
   {
     std::lock_guard<std::mutex> lock(this->loan_mutex);
-    if (RMW_RET_OK != this->loan_messages_if_needed()) {
+    if (RMW_RET_OK !=
+      this->loan_messages_if_needed(false /* update_condition */))
+    {
       RMW_CONNEXT_LOG_ERROR("failed to check loaned messages")
       return false;
     }

rmw_connextdds_common/include/rmw_connextdds/rmw_waitset_dds.hpp

@@ -35,8 +35,7 @@ enum RMW_Connext_WaitSetState
   RMW_CONNEXT_WAITSET_FREE,
   RMW_CONNEXT_WAITSET_ACQUIRING,
   RMW_CONNEXT_WAITSET_BLOCKED,
-  RMW_CONNEXT_WAITSET_RELEASING,
-  RMW_CONNEXT_WAITSET_INVALIDATING
+  RMW_CONNEXT_WAITSET_RELEASING
 };
 
 class RMW_Connext_WaitSet