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Make service/client construction/destruction implementation compliant #445

Merged
merged 5 commits into from
Sep 24, 2020
Merged

Make service/client construction/destruction implementation compliant #445

merged 5 commits into from
Sep 24, 2020

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hidmic
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@hidmic hidmic commented Sep 23, 2020

Connected to ros2/rmw#276. This pull request simply updates return codes for rmw_fastrtps_dynamic_cpp, but refactors rmw_fastrtps_cpp (i.e. new expressions cannot be allowed to throw).

@hidmic
Simplify service/client destruction.
f6fcd32 
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
@hidmic
Update rmw_fastrtps_dynamic_cpp service/client construction/destructi…
9407c97 
…on API return codes.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
@hidmic
Refactor rmw_fastrtps_cpp service/client construction/destruction imp…
a9550be 
…lementation for compliance.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
@hidmic
Explicitly value initialize service/client info members.
b4ed305 
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
@hidmic
Please uncrustify.
721591b 
Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
@hidmic hidmic mentioned this pull request Sep 23, 2020
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hidmic commented Sep 23, 2020

CI up to test_rmw_implementation and rcl:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

ivanpauno
ivanpauno reviewed Sep 23, 2020
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rmw_fastrtps_cpp/src/rmw_client.cpp
Comment on lines 130 to +133
participant, request_type_name.c_str(),
reinterpret_cast<TopicDataType **>(&info->request_type_support_)))
{
info->request_type_support_ = new RequestTypeSupport_cpp(service_members);
info->request_type_support_ = new (std::nothrow) RequestTypeSupport_cpp(service_members);
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Unrelated, but there's a TOCTTOW race here (getRegisteredType/_register_type race).
I fixed something similar in rmw_connext a bit ago: ros2/rmw_connext#442.
We should open an issue about this one too.

Note: maybe registering the same type twice isn't an issue in rmw_fastrtps, but I bet that's not the case.

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Ha, this is interesting. You're spot on about the race, but alas these functions are not expected to be thread-safe to begin with (see ros2/rmw#276 (comment)).

I see much discussion incoming. I'll add it to the backlog.

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Ha, this is interesting. You're spot on about the race, but alas these functions are not expected to be thread-safe to begin with (see ros2/rmw#276 (comment)).

So, the node-object doesn't have to be thread safe, we're mutexing all the accesses to rcl_node_t in rclcpp/rclpy.
The problem is that the function isn't concurrent at all (the domain participant factory is a singleton), and when you compose different nodes in the same process this function calls can randomly break.

I never have that problem with fastrtps, but that was a problem in connext. Of course, it was almost impossible to reproduce.

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So, the node-object doesn't have to be thread safe, we're mutexing all the accesses to rcl_node_t in rclcpp/rclpy.

I'm surprised we're actually not doing that (in rclcpp at least)

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The problem is that the function isn't concurrent at all (the domain participant factory is a singleton), and when you compose different nodes in the same process this function calls can randomly break.

We actually would need one mutex per context to avoid this race https://github.com/eProsima/Fast-DDS/blob/724fa5741d569eff6d5633b6eb587238df97604d/src/cpp/fastrtps_deprecated/Domain.cpp#L309-L316.

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The problem is that the function isn't concurrent at all (the domain participant factory is a singleton), and when you compose different nodes in the same process this function calls can randomly break.

Hmm I see. And I agree, non-reentrant functions are a problem. I'll open an issue.

rmw_fastrtps_cpp/src/rmw_client.cpp
delete info->listener_;
}
});
info->listener_ = new (std::nothrow) ClientListener(info);
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We should really update the info class to store std::unique_ptr instead of raw pointers.
That's cleaner than the scope_exit trick and it avoids duplicated code with the destruction function.

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Agreed. We still have to deal with type erasure to some extent, but it'd make it a lot easier.

I won't pursue that change here though. We can open a separate issue.

rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp
@@ -51,24 +54,30 @@ rmw_create_client(
const rosidl_service_type_support_t * type_supports,
const char * service_name, const rmw_qos_profile_t * qos_policies)
{
if (!node) {
RMW_SET_ERROR_MSG("node handle is null");
RMW_CHECK_ARGUMENT_FOR_NULL(node, nullptr);
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why all the error handling changes were applied to rmw_fastrtps_cpp function and not here?

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Lack of time. For basic compliance with updated rmw API specs, changing return codes is enough. That's pretty much what happened to rmw_fastrtps_dynamic_cpp, and in ros2/rmw_cyclonedds#247 and ros2/rmw_connext#464. rmw_fastrtps_cpp got a bonus cleanup solely because it's the default implementation (and thus the one I care the most right now).

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I would like to keep rmw_fastrtps_cpp and rmw_fastrtps_dynamic_cpp close, but ok

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Yeah, I'm not super happy about it either, but I can't afford changing it right now. I promise I'll circle back later if time allows.

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Lobotuerk approved these changes Sep 23, 2020
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I'm not sure I would take into account my feedback here, but LGTM

@hidmic hidmic mentioned this pull request Sep 24, 2020
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hidmic commented Sep 24, 2020

CI up to test_rmw_implementation and rcl:

  • Linux Build Status
  • Linux-aarch64 Build Status
  • macOS Build Status
  • Windows Build Status

@hidmic hidmic merged commit e52b68b into master Sep 24, 2020
@delete-merged-branch delete-merged-branch bot deleted the hidmic/compliant-service-n-client-creation branch September 24, 2020 17:28
ahcorde pushed a commit that referenced this pull request Oct 9, 2020
@hidmic @ahcorde
Make service/client construction/destruction implementation compliant (…
8ac11ff 
…#445)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
ahcorde pushed a commit that referenced this pull request Oct 15, 2020
@hidmic @ahcorde
Make service/client construction/destruction implementation compliant (…
7d76937 
…#445)

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
timonegk pushed a commit to timonegk/ros-rolling-rmw-fastrtps-cpp-release that referenced this pull request May 21, 2022
@hidmic @timonegk
Import Debian changes 6.2.1-1jammy
3504c03 
ros-rolling-rmw-fastrtps-cpp (6.2.1-1jammy) jammy; urgency=high
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  * Add pub/sub init, publish and take instrumentation using tracetools (#591 <ros2/rmw_fastrtps#591>)
  * Add content filter topic feature (#513 <ros2/rmw_fastrtps#513>)
  * Add sequence numbers to message info structure (#587 <ros2/rmw_fastrtps#587>)
  * Removed some heap interactions in rmw_serialize.cpp (#590 <ros2/rmw_fastrtps#590>)
  * Contributors: Chen Lihui, Christophe Bedard, Ivan Santiago Paunovic, WideAwakeTN
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ros-rolling-rmw-fastrtps-cpp (6.2.0-1jammy) jammy; urgency=high
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  * Add EventsExecutor (#468 <ros2/rmw_fastrtps#468>)
  * Install headers to include/${PROJECT_NAME} (#578 <ros2/rmw_fastrtps#578>)
  * Contributors: Shane Loretz, iRobot ROS
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ros-rolling-rmw-fastrtps-cpp (6.1.2-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (6.1.1-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (6.1.0-1jammy) jammy; urgency=high
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  * Add client/service QoS getters. (#560 <ros2/rmw_fastrtps#560>)
  * Contributors: mauropasse
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ros-rolling-rmw-fastrtps-cpp (6.0.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (5.2.2-1jammy) jammy; urgency=high
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  * Correctly recalculate serialized size on bounded sequences. (#540 <ros2/rmw_fastrtps#540>)
  * Fix type size alignment. (#550 <ros2/rmw_fastrtps#550>)
  * Contributors: Miguel Company
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ros-rolling-rmw-fastrtps-cpp (5.2.1-1jammy) jammy; urgency=high
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  * Change links from index.ros.org -> docs.ros.org (#539 <ros2/rmw_fastrtps#539>)
  * Contributors: Chris Lalancette
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ros-rolling-rmw-fastrtps-cpp (5.2.0-1jammy) jammy; urgency=high
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  * Add rmw_publisher_wait_for_all_acked support. (#519 <ros2/rmw_fastrtps#519>)
  * Contributors: Barry Xu
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ros-rolling-rmw-fastrtps-cpp (5.1.0-1jammy) jammy; urgency=high
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  * Loan messages implementation (#523 <ros2/rmw_fastrtps#523>)
    * Added is_plain_ attribute to base TypeSupport.
    * Added new methods to base TypeSupport.
    * Implementation of rmw_borrow_loaned_message.
    * Implementation of rmw_return_loaned_message_from_publisher.
    * Enable loan messages on publishers of plain types.
    * Implementation for taking loaned messages.
    * Enable loan messages on subscriptions of plain types.
  * Contributors: Miguel Company
.
ros-rolling-rmw-fastrtps-cpp (5.0.0-1jammy) jammy; urgency=high
.
  * Refactor to use DDS standard API (#518 <ros2/rmw_fastrtps#518>)
  * Unique network flows (#502 <ros2/rmw_fastrtps#502>)
  * updating quality declaration links (re: ros2/docs.ros2.org#52 <ros2/docs.ros2.org#52>) (#520 <ros2/rmw_fastrtps#520>)
  * Contributors: Miguel Company, shonigmann
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ros-rolling-rmw-fastrtps-cpp (4.5.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (4.4.0-1jammy) jammy; urgency=high
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  * Add RMW function to check QoS compatibility (#511 <ros2/rmw_fastrtps#511>)
  * Capture cdr exceptions (#505 <ros2/rmw_fastrtps#505>)
  * Contributors: Jacob Perron, Miguel Company
.
ros-rolling-rmw-fastrtps-cpp (4.3.0-1jammy) jammy; urgency=high
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  * Load profiles based on topic names (#335 <ros2/rmw_fastrtps#335>)
  * Set rmw_dds_common::GraphCache callback after init succeeds. (#496 <ros2/rmw_fastrtps#496>)
  * Handle typesupport errors on fetch. (#495 <ros2/rmw_fastrtps#495>)
  * Contributors: Eduardo Ponz Segrelles, Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (4.2.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (4.1.0-1jammy) jammy; urgency=high
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  * Check for correct context shutdown (#486 <ros2/rmw_fastrtps#486>)
  * New environment variable to change easily the publication mode (#470 <ros2/rmw_fastrtps#470>)
  * Contributors: Ignacio Montesino Valle, José Luis Bueno López
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ros-rolling-rmw-fastrtps-cpp (4.0.0-1jammy) jammy; urgency=high
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  * Discriminate when the Client has gone from when the Client has not completely matched (#467 <ros2/rmw_fastrtps#467>)
    * Workaround when the client is gone before server sends response
    * Change add to the map to listener callback
  * Update the package.xml files with the latest Open Robotics maintainers (#459 <ros2/rmw_fastrtps#459>)
  * Update Quality Declarations and READMEs (#455 <ros2/rmw_fastrtps#455>)
    * Add QD links for dependencies to rmw_fastrtps_cpp QD
    * Provide external dependencies QD links
    * Update rmw_fastrtps README to use Fast DDS
    * Update rmw_fastrtps_cpp QD: Fast DDS & unit test
    * Update README rmw_fastrtps_cpp to QL2
  * Contributors: JLBuenoLopez-eProsima, Jaime Martin Losa, José Luis Bueno López, Michael Jeronimo
.
ros-rolling-rmw-fastrtps-cpp (3.1.4-1jammy) jammy; urgency=high
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  * Perform fault injection in all creation/destruction APIs. (#453 <ros2/rmw_fastrtps#453>)
  * Ensure rmw_destroy_node() completes despite run-time errors. (#458 <ros2/rmw_fastrtps#458>)
  * Update rmw_fastrtps_cpp and rmw_fastrtps_shared_cpp QDs to QL2. (#456 <ros2/rmw_fastrtps#456>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-cpp (3.1.3-1jammy) jammy; urgency=high
.
  * Return RMW_RET_UNSUPPORTED in rmw_get_serialized_message_size (#452 <ros2/rmw_fastrtps#452>)
  * Contributors: Alejandro Hernández Cordero
.
ros-rolling-rmw-fastrtps-cpp (3.1.2-1jammy) jammy; urgency=high
.
  * Updated publisher/subscription allocation and wait set API return codes (#443 <ros2/rmw_fastrtps#443>)
  * Added rmw_logging tests (#442 <ros2/rmw_fastrtps#442>)
  * Contributors: Alejandro Hernández Cordero
.
ros-rolling-rmw-fastrtps-cpp (3.1.1-1jammy) jammy; urgency=high
.
  * Make service/client construction/destruction implementation compliant (#445 <ros2/rmw_fastrtps#445>)
  * Make sure type can be unregistered successfully (#437 <ros2/rmw_fastrtps#437>)
  * Contributors: Barry Xu, Michel Hidalgo
.
ros-rolling-rmw-fastrtps-cpp (3.1.0-1jammy) jammy; urgency=high
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  * Add tests for native entity getters. (#439 <ros2/rmw_fastrtps#439>)
  * Avoid deadlock if graph update fails. (#438 <ros2/rmw_fastrtps#438>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (3.0.0-1jammy) jammy; urgency=high
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  * Call Domain::removePublisher while failure occurs in create_publisher (#434 <ros2/rmw_fastrtps#434>)
  * Contributors: Barry Xu
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ros-rolling-rmw-fastrtps-cpp (2.6.0-1jammy) jammy; urgency=high
.
  * Ensure compliant matched pub/sub count API. (#424 <ros2/rmw_fastrtps#424>)
  * Ensure compliant publisher QoS queries. (#425 <ros2/rmw_fastrtps#425>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (2.5.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (2.4.0-1jammy) jammy; urgency=high
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  * Ensure compliant subscription API. (#419 <ros2/rmw_fastrtps#419>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (2.3.0-1jammy) jammy; urgency=high
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  * Ensure compliant publisher API. (#414 <ros2/rmw_fastrtps#414>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (2.2.0-1jammy) jammy; urgency=high
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  * Set context actual domain id (#410 <ros2/rmw_fastrtps#410>)
  * Contributors: Ivan Santiago Paunovic
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ros-rolling-rmw-fastrtps-cpp (2.1.0-1jammy) jammy; urgency=high
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  * Ensure compliant node construction/destruction API. (#408 <ros2/rmw_fastrtps#408>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (2.0.0-1jammy) jammy; urgency=high
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  * Remove domain_id and localhost_only from node API (#407 <ros2/rmw_fastrtps#407>)
  * Amend rmw_init() implementation: require enclave. (#406 <ros2/rmw_fastrtps#406>)
  * Update Quality Declarations to QL3. (#404 <ros2/rmw_fastrtps#404>)
  * Contributors: Ivan Santiago Paunovic, Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (1.1.0-1jammy) jammy; urgency=high
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  * Ensure compliant init/shutdown API implementation. (#401 <ros2/rmw_fastrtps#401>)
  * Update Quality Declaration to QL3. (#403 <ros2/rmw_fastrtps#403>)
  * Finalize context iff shutdown. (#396 <ros2/rmw_fastrtps#396>)
  * Make service wait for response reader (#390 <ros2/rmw_fastrtps#390>)
  * Contributors: Michel Hidalgo, Miguel Company
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ros-rolling-rmw-fastrtps-cpp (1.0.1-1jammy) jammy; urgency=high
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  * Add Security Vulnerability Policy pointing to REP-2006 (#389 <ros2/rmw_fastrtps#389>)
  * Update QDs for 1.0 (#383 <ros2/rmw_fastrtps#383>)
  * Contributors: Chris Lalancette, Stephen Brawner
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ros-rolling-rmw-fastrtps-cpp (1.0.0-1jammy) jammy; urgency=high
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  * Remove API related to manual by node liveliness.  (#379 <ros2/rmw_fastrtps#379>)
  * Update quality declarations on feature testing. (#380 <ros2/rmw_fastrtps#380>)
  * Contributors: Ivan Santiago Paunovic, Michel Hidalgo
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ros-rolling-rmw-fastrtps-cpp (0.9.1-1jammy) jammy; urgency=high
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  * Add package READMEs and QUALITY_DECLARATION files (#375 <ros2/rmw_fastrtps#375>)
  * Added doxyfiles (#372 <ros2/rmw_fastrtps#372>)
  * Contributors: Alejandro Hernández Cordero, brawner
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ros-rolling-rmw-fastrtps-cpp (0.9.0-1jammy) jammy; urgency=high
.
  * Add missing export of rmw_dds_common. (#374 <ros2/rmw_fastrtps#374>)
  * Rename rosidl_message_bounds_t. (#373 <ros2/rmw_fastrtps#373>)
  * Feature/services timestamps. (#369 <ros2/rmw_fastrtps#369>)
  * Add support for taking a sequence of messages. (#366 <ros2/rmw_fastrtps#366>)
  * security-context -> enclave. (#365 <ros2/rmw_fastrtps#365>)
  * Rename rosidl_generator_c namespace to rosidl_runtime_c. (#367 <ros2/rmw_fastrtps#367>)
  * Remove custom typesupport for rmw_dds_common interfaces. (#364 <ros2/rmw_fastrtps#364>)
  * Added rosidl_runtime c and cpp depencencies. (#351 <ros2/rmw_fastrtps#351>)
  * Switch to one Participant per Context. (#312 <ros2/rmw_fastrtps#312>)
  * Add rmw_*_event_init() functions. (#354 <ros2/rmw_fastrtps#354>)
  * Fixing type support C/CPP mix on rmw_fastrtps_dynamic_cpp. (#350 <ros2/rmw_fastrtps#350>)
  * Fix build warning in Ubuntu Focal. (#346 <ros2/rmw_fastrtps#346>)
  * Code style only: wrap after open parenthesis if not in one line. (#347 <ros2/rmw_fastrtps#347>)
  * Passing down type support information (#342 <ros2/rmw_fastrtps#342>)
  * Implement functions to get publisher and subcription informations like QoS policies from topic name. (#336 <ros2/rmw_fastrtps#336>)
  * Contributors: Alejandro Hernández Cordero, Dirk Thomas, Ingo Lütkebohle, Ivan Santiago Paunovic, Jaison Titus, Miaofei Mei, Michael Carroll, Miguel Company, Mikael Arguedas
.
ros-rolling-rmw-fastrtps-cpp (0.8.1-1jammy) jammy; urgency=high
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  * use return_loaned_message_from (#334 <ros2/rmw_fastrtps#334>)
  * Restrict traffic to localhost only if env var is provided (#331 <ros2/rmw_fastrtps#331>)
  * Zero copy api (#322 <ros2/rmw_fastrtps#322>)
  * update signature for added pub/sub options (#329 <ros2/rmw_fastrtps#329>)
  * Contributors: Brian Marchi, Karsten Knese, William Woodall
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ros-rolling-rmw-fastrtps-cpp (0.8.0-1jammy) jammy; urgency=high
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  * Add function for getting clients by node (#293 <ros2/rmw_fastrtps#293>)
  * Implement get_actual_qos() for subscriptions (#287 <ros2/rmw_fastrtps#287>)
  * Fix error message (#290 <ros2/rmw_fastrtps#290>)
  * Contributors: Jacob Perron, M. M
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ros-rolling-rmw-fastrtps-cpp (0.7.3-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-cpp (0.7.2-1jammy) jammy; urgency=high
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  * Centralize topic name creation logic and update to match FastRTPS 1.8 API (#272 <ros2/rmw_fastrtps#272>)
  * Contributors: Nick Burek
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ros-rolling-rmw-fastrtps-cpp (0.7.1-1jammy) jammy; urgency=high
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  * Support arbitrary message namespaces  (#266 <ros2/rmw_fastrtps#266>)
  * Add qos interfaces with no-op (#271 <ros2/rmw_fastrtps#271>)
  * Updates for preallocation API. (#274 <ros2/rmw_fastrtps#274>)
  * Contributors: Jacob Perron, Michael Carroll, Ross Desmond
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ros-rolling-rmw-fastrtps-cpp (0.7.0-1jammy) jammy; urgency=high
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  * Add function to get publisher actual qos settings (#267 <ros2/rmw_fastrtps#267>)
  * pass context to wait set and fini context (#252 <ros2/rmw_fastrtps#252>)
  * Improve service_is_available logic to protect that client is waiting forever (#238 <ros2/rmw_fastrtps#238>)
  * Merge pull request #250 <ros2/rmw_fastrtps#250> from ros2/support_static_lib
  * use namespace_prefix from shared package
  * Contributors: Dirk Thomas, DongheeYe, William Woodall, ivanpauno
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ros-rolling-rmw-fastrtps-cpp (0.6.1-1jammy) jammy; urgency=high
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  * Add topic cache object for managing topic relations (#236 <ros2/rmw_fastrtps#236>)
  * Fastrtps 1.7.0 (#233 <ros2/rmw_fastrtps#233>)
  * RMW_FastRTPS configuration from XML only (#243 <ros2/rmw_fastrtps#243>)
  * refactor to support init options and context (#237 <ros2/rmw_fastrtps#237>)
  * Methods to retrieve matched counts on pub/sub (#234 <ros2/rmw_fastrtps#234>)
  * use uint8_array (#240 <ros2/rmw_fastrtps#240>)
  * Contributors: Juan Carlos, Karsten Knese, Michael Carroll, MiguelCompany, Ross Desmond, William Woodall
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ros-rolling-rmw-fastrtps-cpp (0.6.0-1jammy) jammy; urgency=high
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  * Add semicolons to all RCLCPP and RCUTILS macros. (#229 <ros2/rmw_fastrtps#229>)
  * Include node namespaces in get_node_names (#224 <ros2/rmw_fastrtps#224>)
  * add rmw_get_serialization_format (#215 <ros2/rmw_fastrtps#215>)
  * Merge pull request #218 <ros2/rmw_fastrtps#218> from ros2/pr203
  * Revert "fix template closing indentation (#214 <ros2/rmw_fastrtps#214>)"
  * fix template closing indentation (#214 <ros2/rmw_fastrtps#214>)
  * Contributors: Chris Lalancette, Dirk Thomas, Karsten Knese, Michael Carroll, Miguel Company, Mikael Arguedas
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ros-rolling-rmw-fastrtps-cpp (0.5.1-1jammy) jammy; urgency=high
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  * update maintainer
  * Contributors: Dirk Thomas
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ros-rolling-rmw-fastrtps-cpp (0.5.0-1jammy) jammy; urgency=high
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  * Avoid allocations (#211 <ros2/rmw_fastrtps#211>)
  * Temporary buffer remove (#207 <ros2/rmw_fastrtps#207>)
  * Validate the buffer_ of CustomServiceRequest object before using it to (#210 <ros2/rmw_fastrtps#210>)
  * update usage of rcutils_join_path() (#208 <ros2/rmw_fastrtps#208>)
  * Expose raw CDR stream for publish and subscribe (#186 <ros2/rmw_fastrtps#186>)
  * Remove topic partitions (#192 <ros2/rmw_fastrtps#192>)
  * Fix leak if client reponse is never taken (#201 <ros2/rmw_fastrtps#201>)
  * Revert "Export rmw_fastrtps_cpp target" (#200 <ros2/rmw_fastrtps#200>)
  * Support access control  (#197 <ros2/rmw_fastrtps#197>)
  * Export rmw_fastrtps_cpp target (#198 <ros2/rmw_fastrtps#198>)
  * Fix deserialization segfault in bionic. (#199 <ros2/rmw_fastrtps#199>)
  * Fix namespaces (#196 <ros2/rmw_fastrtps#196>)
  * Merge pull request #182 <ros2/rmw_fastrtps#182> from ros2/node_name_in_user_data
  * add participant listener
  * add node name to user data
  * change export order for static linking (#190 <ros2/rmw_fastrtps#190>)
  * update style (#189 <ros2/rmw_fastrtps#189>)
  * optimize timeout judgement according to different condition (#187 <ros2/rmw_fastrtps#187>)
  * use existing check_wait_set_for_data to avoid duplicated code (#185 <ros2/rmw_fastrtps#185>)
  * Enable logging level manipulation from rmw_fastrtps (#156 <ros2/rmw_fastrtps#156>)
  * Small performance improvements (#183 <ros2/rmw_fastrtps#183>)
  * Segmentation error to dereference nullptr (#180 <ros2/rmw_fastrtps#180>)
  * Contributors: Dirk Thomas, Ethan Gao, Guillaume Autran, Karsten Knese, Michael Carroll, MiguelCompany, Mikael Arguedas, Minggang Wang, Rohit Salem, Shane Loretz, Sriram Raghunathan, William Woodall, jwang11
.
ros-rolling-rmw-fastrtps-cpp (0.4.0-1jammy) jammy; urgency=high
.
  * Merge pull request #178 <ros2/rmw_fastrtps#178> from ros2/fix_wrong_count
  * Merge pull request #177 <ros2/rmw_fastrtps#177> from ros2/rename_group
  * Wait set two words (#175 <ros2/rmw_fastrtps#175>)
  * not exporting pthread manually (#174 <ros2/rmw_fastrtps#174>)
  * Merge pull request #169 <ros2/rmw_fastrtps#169> from ros2/rep149
  * Merge pull request #171 <ros2/rmw_fastrtps#171> from jwang11/master
  * rcutils_join_path returns a char * now. (#173 <ros2/rmw_fastrtps#173>)
  * memory leak issue (#172 <ros2/rmw_fastrtps#172>)
  * Unify and simplify de/serializeROSmessage processing
  * Avoid duplicated code in calculateMaxSerializedSize for array and normal member (#168 <ros2/rmw_fastrtps#168>)
  * Fix the issues to dereference to nullptr (#165 <ros2/rmw_fastrtps#165>)
  * Fix rmw_fastrtps dead code (#163 <ros2/rmw_fastrtps#163>)
  * Merge pull request #167 <ros2/rmw_fastrtps#167> from deng02/tune-count-pub-sub
  * Remove string allocation in the count of subscribers and publishers
  * use auto deduction and nullptr to keep coding style consistent (#162 <ros2/rmw_fastrtps#162>)
  * Merge pull request #164 <ros2/rmw_fastrtps#164> from dejanpan/master
  * Fix several parameter check issues in rmw_fastrtps_cpp apis
  * Remove unnecessary dependency on rosidl_generator_cpp (#161 <ros2/rmw_fastrtps#161>)
  * Move the hasData checks for non-blocking wait 'timeout' higher (#158 <ros2/rmw_fastrtps#158>)
  * Support loading default XML profile file (#153 <ros2/rmw_fastrtps#153>)
  * Drop duplicated rmw_init.cpp in rmw_fastrtps_cpp/CMakeLists.txt (#155 <ros2/rmw_fastrtps#155>)
  * Merge pull request #154 <ros2/rmw_fastrtps#154> from ros2/uncrustify_master
  * Removing magic numbers: old maximun lengths (#152 <ros2/rmw_fastrtps#152>)
timonegk pushed a commit to timonegk/ros-rolling-rmw-fastrtps-shared-cpp-release that referenced this pull request May 21, 2022
@hidmic @timonegk
Import Debian changes 6.2.1-1jammy
41927c9 
ros-rolling-rmw-fastrtps-shared-cpp (6.2.1-1jammy) jammy; urgency=high
.
  * Address linter waning for windows. (#592 <ros2/rmw_fastrtps#592>)
  * Add pub/sub init, publish and take instrumentation using tracetools (#591 <ros2/rmw_fastrtps#591>)
  * Add content filter topic feature (#513 <ros2/rmw_fastrtps#513>)
  * Add sequence numbers to message info structure (#587 <ros2/rmw_fastrtps#587>)
  * Contributors: Chen Lihui, Christophe Bedard, Ivan Santiago Paunovic, Tomoya Fujita
.
ros-rolling-rmw-fastrtps-shared-cpp (6.2.0-1jammy) jammy; urgency=high
.
  * Add EventsExecutor (#468 <ros2/rmw_fastrtps#468>)
  * Complete events support (#583 <ros2/rmw_fastrtps#583>)
  * Install headers to include/${PROJECT_NAME} (#578 <ros2/rmw_fastrtps#578>)
  * Change default to synchronous (#571 <ros2/rmw_fastrtps#571>)
  * Contributors: Audrow Nash, Miguel Company, Shane Loretz, iRobot ROS
.
ros-rolling-rmw-fastrtps-shared-cpp (6.1.2-1jammy) jammy; urgency=high
.
  * Fix cpplint error (#574 <ros2/rmw_fastrtps#574>)
  * Contributors: Jacob Perron
.
ros-rolling-rmw-fastrtps-shared-cpp (6.1.1-1jammy) jammy; urgency=high
.
  * Fixes for uncrustify 0.72 (#572 <ros2/rmw_fastrtps#572>)
  * Contributors: Chris Lalancette
.
ros-rolling-rmw-fastrtps-shared-cpp (6.1.0-1jammy) jammy; urgency=high
.
  * Add client/service QoS getters. (#560 <ros2/rmw_fastrtps#560>)
  * Fix QoS depth settings for clients/service being ignored. (#564 <ros2/rmw_fastrtps#564>)
  * Contributors: Chen Lihui, mauropasse
.
ros-rolling-rmw-fastrtps-shared-cpp (6.0.0-1jammy) jammy; urgency=high
.
  * Update rmw_context_impl_t definition. (#558 <ros2/rmw_fastrtps#558>)
  * Update the LoanManager to do internal locking. (#552 <ros2/rmw_fastrtps#552>)
  * Contributors: Chris Lalancette, Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (5.2.2-1jammy) jammy; urgency=high
.
  * Pass the CRL down to Fast-DDS if available. (#546 <ros2/rmw_fastrtps#546>)
  * Contributors: Chris Lalancette
.
ros-rolling-rmw-fastrtps-shared-cpp (5.2.1-1jammy) jammy; urgency=high
.
  * Use the new rmw_dds_common::get_security_files (#544 <ros2/rmw_fastrtps#544>)
  * Support for SubscriptionOptions::ignore_local_publications (#536 <ros2/rmw_fastrtps#536>)
  * Change links from index.ros.org -> docs.ros.org (#539 <ros2/rmw_fastrtps#539>)
  * Contributors: Chris Lalancette, Jose Antonio Moral
.
ros-rolling-rmw-fastrtps-shared-cpp (5.2.0-1jammy) jammy; urgency=high
.
  * Add rmw_publisher_wait_for_all_acked support. (#519 <ros2/rmw_fastrtps#519>)
  * Contributors: Barry Xu
.
ros-rolling-rmw-fastrtps-shared-cpp (5.1.0-1jammy) jammy; urgency=high
.
  * Loan messages implementation (#523 <ros2/rmw_fastrtps#523>)
    * Added is_plain_ attribute to base TypeSupport.
    * Added new methods to base TypeSupport.
    * Implementation of rmw_borrow_loaned_message.
    * Implementation of rmw_return_loaned_message_from_publisher.
    * Enable loan messages on publishers of plain types.
    * Implementation for taking loaned messages.
    * Enable loan messages on subscriptions of plain types.
  * Export rmw_dds_common as an rmw_fastrtps_shared_cpp dependency (#530 <ros2/rmw_fastrtps#530>)
  * Update includes after rcutils/get_env.h deprecation (#529 <ros2/rmw_fastrtps#529>)
  * Contributors: Christophe Bedard, Michel Hidalgo, Miguel Company
.
ros-rolling-rmw-fastrtps-shared-cpp (5.0.0-1jammy) jammy; urgency=high
.
  * Refactor to use DDS standard API (#518 <ros2/rmw_fastrtps#518>)
  * Unique network flows (#502 <ros2/rmw_fastrtps#502>)
  * updating quality declaration links (re: ros2/docs.ros2.org#52 <ros2/docs.ros2.org#52>) (#520 <ros2/rmw_fastrtps#520>)
  * Contributors: Miguel Company, shonigmann
.
ros-rolling-rmw-fastrtps-shared-cpp (4.5.0-1jammy) jammy; urgency=high
.
  * Take and return new RMW_DURATION_INFINITE correctly (#515 <ros2/rmw_fastrtps#515>)
  * Contributors: Emerson Knapp
.
ros-rolling-rmw-fastrtps-shared-cpp (4.4.0-1jammy) jammy; urgency=high
.
  * Add RMW function to check QoS compatibility (#511 <ros2/rmw_fastrtps#511>)
  * Capture cdr exceptions (#505 <ros2/rmw_fastrtps#505>)
  * Contributors: Jacob Perron, Miguel Company
.
ros-rolling-rmw-fastrtps-shared-cpp (4.3.0-1jammy) jammy; urgency=high
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.
.
ros-rolling-rmw-fastrtps-shared-cpp (4.2.0-1jammy) jammy; urgency=high
.
  * Make sure to lock the mutex protecting client_endpoints_. (#492 <ros2/rmw_fastrtps#492>)
  * Contributors: Chris Lalancette
.
ros-rolling-rmw-fastrtps-shared-cpp (4.1.0-1jammy) jammy; urgency=high
.
  * Use interface whitelist for localhost only (#476 <ros2/rmw_fastrtps#476>)
  * Make use of error return value in decrement_context_impl_ref_count (#488 <ros2/rmw_fastrtps#488>)
  * Remove unnecessary includes (#487 <ros2/rmw_fastrtps#487>)
  * Use new time_utils function to limit rmw_time_t values to 32-bits (#485 <ros2/rmw_fastrtps#485>)
  * New environment variable to change easily the publication mode (#470 <ros2/rmw_fastrtps#470>)
  * Remove unused headers MessageTypeSupport.hpp and ServiceTypeSupport.hpp (#481 <ros2/rmw_fastrtps#481>)
  * Contributors: Jacob Perron, José Luis Bueno López, Michael Jeronimo, Miguel Company, Stephen Brawner
.
ros-rolling-rmw-fastrtps-shared-cpp (4.0.0-1jammy) jammy; urgency=high
.
  * Discriminate when the Client has gone from when the Client has not completely matched (#467 <ros2/rmw_fastrtps#467>)
    * Workaround when the client is gone before server sends response
    * Change add to the map to listener callback
  * Update the package.xml files with the latest Open Robotics maintainers (#459 <ros2/rmw_fastrtps#459>)
  * Update Quality Declarations and READMEs (#455 <ros2/rmw_fastrtps#455>)
    * Add QD links for dependencies to rmw_fastrtps_shared_cpp QD.
    * Provide external dependencies QD links.
    * Update rmw_fastrtps_shared_cpp QD: Fast DDS
    * Update README rmw_fastrtps_shared_cpp to QL2
  * Contributors: JLBuenoLopez-eProsima, Jaime Martin Losa, José Luis Bueno López, Michael Jeronimo
.
ros-rolling-rmw-fastrtps-shared-cpp (3.1.4-1jammy) jammy; urgency=high
.
  * Perform fault injection in all creation/destruction APIs. (#453 <ros2/rmw_fastrtps#453>)
  * Ensure rmw_destroy_node() completes despite run-time errors. (#458 <ros2/rmw_fastrtps#458>)
  * Handle too large QoS queue depths.  (#457 <ros2/rmw_fastrtps#457>)
  * Update rmw_fastrtps_cpp and rmw_fastrtps_shared_cpp QDs to QL2. (#456 <ros2/rmw_fastrtps#456>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (3.1.3-1jammy) jammy; urgency=high
.
  * checked client implementation and return RMW_RET_INCORRECT_RMW_IMPLEMENTATION (#451 <ros2/rmw_fastrtps#451>)
  * Update service/client request/response API error returns (#450 <ros2/rmw_fastrtps#450>)
  * Contributors: Alejandro Hernández Cordero, Jose Tomas Lorente
.
ros-rolling-rmw-fastrtps-shared-cpp (3.1.2-1jammy) jammy; urgency=high
.
  * Updated publisher/subscription allocation and wait set API return codes (#443 <ros2/rmw_fastrtps#443>)
  * Added rmw_logging tests (#442 <ros2/rmw_fastrtps#442>)
  * Contributors: Alejandro Hernández Cordero
.
ros-rolling-rmw-fastrtps-shared-cpp (3.1.1-1jammy) jammy; urgency=high
.
  * Add tests for RMW QoS to DDS attribute conversion. (#449 <ros2/rmw_fastrtps#449>)
  * Make service/client construction/destruction implementation compliant (#445 <ros2/rmw_fastrtps#445>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (3.1.0-1jammy) jammy; urgency=high
.
  * Inject faults on __rmw_publish() and run_listener_thread() call. (#441 <ros2/rmw_fastrtps#441>)
  * Update gid API return codes. (#440 <ros2/rmw_fastrtps#440>)
  * Update graph API return codes. (#436 <ros2/rmw_fastrtps#436>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (3.0.0-1jammy) jammy; urgency=high
.
  * Update rmw_take_serialized() and rmw_take_with_message_info() error returns  (#435 <ros2/rmw_fastrtps#435>)
  * Update rmw_take() error returns (#432 <ros2/rmw_fastrtps#432>)
  * Update rmw_publish() error returns (#430 <ros2/rmw_fastrtps#430>)
  * Update rmw_publish_serialized_message() error returns (#431 <ros2/rmw_fastrtps#431>)
  * Contributors: Jose Tomas Lorente, Lobotuerk
.
ros-rolling-rmw-fastrtps-shared-cpp (2.6.0-1jammy) jammy; urgency=high
.
  * Improve __rmw_create_wait_set() implementation. (#427 <ros2/rmw_fastrtps#427>)
  * Ensure compliant matched pub/sub count API. (#424 <ros2/rmw_fastrtps#424>)
  * Ensure compliant publisher QoS queries. (#425 <ros2/rmw_fastrtps#425>)
  * Fix memory leak that wait_set might be not destoryed in some case. (#423 <ros2/rmw_fastrtps#423>)
  * Contributors: Chen Lihui, Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (2.5.0-1jammy) jammy; urgency=high
.
  * Avoid unused identifier variable warnings. (#422 <ros2/rmw_fastrtps#422>)
  * Fix trying to get topic data that was already removed. (#417 <ros2/rmw_fastrtps#417>)
  * Contributors: Chen Lihui, Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (2.4.0-1jammy) jammy; urgency=high
.
  * Ensure compliant subscription API. (#419 <ros2/rmw_fastrtps#419>)
  * Use package path to TypeSupport.hpp headers in ServiceTypeSupport and MessageTypeSupport (#415 <ros2/rmw_fastrtps#415>)
    Use package in path to TypeSupport header for ServiceTypeSupport/MessageTypeSupport
  * Contributors: Jose Luis Rivero, Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (2.3.0-1jammy) jammy; urgency=high
.
  * Ensure compliant publisher API. (#414 <ros2/rmw_fastrtps#414>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (2.2.0-1jammy) jammy; urgency=high
.
  * Set context actual domain id (#410 <ros2/rmw_fastrtps#410>)
  * Contributors: Ivan Santiago Paunovic
.
ros-rolling-rmw-fastrtps-shared-cpp (2.1.0-1jammy) jammy; urgency=high
.
  * Add missing thread-safety annotation in ServicePubListener (#409 <ros2/rmw_fastrtps#409>)
  * Ensure compliant node construction/destruction API. (#408 <ros2/rmw_fastrtps#408>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (2.0.0-1jammy) jammy; urgency=high
.
  * Update Quality Declarations to QL3. (#404 <ros2/rmw_fastrtps#404>)
  * Contributors: Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (1.1.0-1jammy) jammy; urgency=high
.
  * Do not use string literals as implementation identifiers in tests. (#402 <ros2/rmw_fastrtps#402>)
  * Ensure compliant init options API implementations. (#399 <ros2/rmw_fastrtps#399>)
  * Finalize context iff shutdown. (#396 <ros2/rmw_fastrtps#396>)
  * Handle RMW_DEFAULT_DOMAIN_ID. (#394 <ros2/rmw_fastrtps#394>)
  * Make service wait for response reader (#390 <ros2/rmw_fastrtps#390>)
  * Contributors: Michel Hidalgo, Miguel Company
.
ros-rolling-rmw-fastrtps-shared-cpp (1.0.1-1jammy) jammy; urgency=high
.
  * Add Security Vulnerability Policy pointing to REP-2006 (#389 <ros2/rmw_fastrtps#389>)
  * Do not compile assert death tests in Release builds (#393 <ros2/rmw_fastrtps#393>)
  * Add test coverage for name mangling and namespacing-specific API (#388 <ros2/rmw_fastrtps#388>)
  * Add test coverage for GUID utilities (#387 <ros2/rmw_fastrtps#387>)
  * Drop unused TopicCache sources (#386 <ros2/rmw_fastrtps#386>)
  * Add test coverage for rmw_init_options API (#385 <ros2/rmw_fastrtps#385>)
  * Update QDs for 1.0 (#383 <ros2/rmw_fastrtps#383>)
  * Contributors: Chris Lalancette, Michel Hidalgo, Stephen Brawner
.
ros-rolling-rmw-fastrtps-shared-cpp (1.0.0-1jammy) jammy; urgency=high
.
  * Remove API related to manual by node liveliness. (#379 <ros2/rmw_fastrtps#379>)
  * Update quality declarations on feature testing. (#380 <ros2/rmw_fastrtps#380>)
  * Contributors: Ivan Santiago Paunovic, Michel Hidalgo
.
ros-rolling-rmw-fastrtps-shared-cpp (0.9.1-1jammy) jammy; urgency=high
.
  * Fill service_info timestamps from sample_info (#378 <ros2/rmw_fastrtps#378>)
  * Fix unused variabled warning (#377 <ros2/rmw_fastrtps#377>)
  * Add basic support for security logging plugin (#362 <ros2/rmw_fastrtps#362>)
  * Add package READMEs and QUALITY_DECLARATION files (#375 <ros2/rmw_fastrtps#375>)
  * Added doxyfiles (#372 <ros2/rmw_fastrtps#372>)
  * Contributors: Alejandro Hernández Cordero, Ingo Lütkebohle, Jacob Perron, Kyle Fazzari, brawner
.
ros-rolling-rmw-fastrtps-shared-cpp (0.9.0-1jammy) jammy; urgency=high
.
  * Feature/services timestamps. (#369 <ros2/rmw_fastrtps#369>)
  * Add support for taking a sequence of messages. (#366 <ros2/rmw_fastrtps#366>)
  * Fill message_info timestamp. (#368 <ros2/rmw_fastrtps#368>)
  * Export targets in a addition to include directories / libraries. (#371 <ros2/rmw_fastrtps#371>)
  * Support for API break on Fast RTPS 2.0. (#370 <ros2/rmw_fastrtps#370>)
  * security-context -> enclave. (#365 <ros2/rmw_fastrtps#365>)
  * Switch to one Participant per Context. (#312 <ros2/rmw_fastrtps#312>)
  * Correct error message when event is not supported. (#358 <ros2/rmw_fastrtps#358>)
  * Add rmw_*_event_init() functions. (#354 <ros2/rmw_fastrtps#354>)
  * Fixing type support C/CPP mix on rmw_fastrtps_dynamic_cpp. (#350 <ros2/rmw_fastrtps#350>)
  * Fix build warning in Ubuntu Focal. (#346 <ros2/rmw_fastrtps#346>)
  * Change rmw_topic_endpoint_info_array.count to .size. (#348 <ros2/rmw_fastrtps#348>)
  * Code style only: wrap after open parenthesis if not in one line. (#347 <ros2/rmw_fastrtps#347>)
  * Fix unprotected use of mutex-guarded variable. (#345 <ros2/rmw_fastrtps#345>)
  * Passing down type support information (#342 <ros2/rmw_fastrtps#342>)
  * Implement functions to get publisher and subcription informations like QoS policies from topic name. (#336 <ros2/rmw_fastrtps#336>)
  * Contributors: Dirk Thomas, Emerson Knapp, Ingo Lütkebohle, Ivan Santiago Paunovic, Jaison Titus, Miaofei Mei, Michael Carroll, Miguel Company, Mikael Arguedas
.
ros-rolling-rmw-fastrtps-shared-cpp (0.8.1-1jammy) jammy; urgency=high
.
  * Restrict traffic to localhost only if env var is provided (#331 <ros2/rmw_fastrtps#331>)
  * Added new functions which can be used to get rmw_qos_profile_t from WriterQos and ReaderQos (#328 <ros2/rmw_fastrtps#328>)
  * Renamed dds_qos_to_rmw_qos to dds_attributes_to_rmw_qos (#330 <ros2/rmw_fastrtps#330>)
  * Contributors: Brian Marchi, jaisontj
.
ros-rolling-rmw-fastrtps-shared-cpp (0.8.0-1jammy) jammy; urgency=high
.
  * Correct error message (#320 <ros2/rmw_fastrtps#320>)
  * Return specific error code when node is not found (#311 <ros2/rmw_fastrtps#311>)
  * Correct linter failure (#318 <ros2/rmw_fastrtps#318>)
  * Fix bug in graph API by node (#316 <ros2/rmw_fastrtps#316>)
  * fix method name change from 1.8.1->1.9.0 (#302 <ros2/rmw_fastrtps#302>)
  * Add missing lock guards for discovered_names and discovered_namespaces (#301 <ros2/rmw_fastrtps#301>)
  * Add function for getting clients by node (#293 <ros2/rmw_fastrtps#293>)
  * Enable manual_by_node and node liveliness assertion (#298 <ros2/rmw_fastrtps#298>)
  * Enable assert liveliness on publisher. (#296 <ros2/rmw_fastrtps#296>)
  * Use rcpputils::find_and_replace instead of std::regex_replace (#291 <ros2/rmw_fastrtps#291>)
  * Fix a comparison with a sign mismatch (#288 <ros2/rmw_fastrtps#288>)
  * Implement get_actual_qos() for subscriptions (#287 <ros2/rmw_fastrtps#287>)
  * add missing qos setings in get_actual_qos() (#284 <ros2/rmw_fastrtps#284>)
  * Fix ABBA deadlock.
  * Contributors: Chris Lalancette, Emerson Knapp, Jacob Perron, M. M, Scott K Logan, William Woodall, ivanpauno
.
ros-rolling-rmw-fastrtps-shared-cpp (0.7.3-1jammy) jammy; urgency=high
.
  * Protection of discovered_names and discovered_namespaces (#283 <ros2/rmw_fastrtps#283>)
  * Disable all liveliness until it is actually supported (#282 <ros2/rmw_fastrtps#282>)
  * Contributors: Emerson Knapp, MiguelCompany
.
ros-rolling-rmw-fastrtps-shared-cpp (0.7.2-1jammy) jammy; urgency=high
.
  * fix log_debug typo in rmw_count (#279 <ros2/rmw_fastrtps#279>)
  * Fastrtps18 event callbacks policies (#275 <ros2/rmw_fastrtps#275>)
  * Centralize topic name creation logic and update to match FastRTPS 1.8 API (#272 <ros2/rmw_fastrtps#272>)
  * Contributors: 1r0b1n0, Emerson Knapp, Nick Burek
.
ros-rolling-rmw-fastrtps-shared-cpp (0.7.1-1jammy) jammy; urgency=high
.
  * Support arbitrary message namespaces  (#266 <ros2/rmw_fastrtps#266>)
  * Set more correct return values for unimplemented features (#276 <ros2/rmw_fastrtps#276>)
  * Add qos interfaces with no-op (#271 <ros2/rmw_fastrtps#271>)
  * Updates for preallocation API. (#274 <ros2/rmw_fastrtps#274>)
  * Fix logging in rmw_node_info_and_types.cpp (#273 <ros2/rmw_fastrtps#273>)
  * Contributors: Emerson Knapp, Jacob Perron, Michael Carroll, Ross Desmond, Thomas Moulard
.
ros-rolling-rmw-fastrtps-shared-cpp (0.7.0-1jammy) jammy; urgency=high
.
  * Thread safety annotation - minimally intrusive first pass (#259 <ros2/rmw_fastrtps#259>)
  * Add function to get publisher actual qos settings (#267 <ros2/rmw_fastrtps#267>)
  * Fixed race condition between taking sample and updating counter. (#264 <ros2/rmw_fastrtps#264>)
  * Fix cpplint error
  * change count type to size_t to avoid warning (#262 <ros2/rmw_fastrtps#262>)
  * update listener logic for accurate counting (#262 <ros2/rmw_fastrtps#262>)
  * Make sure to include the C++ headers used by these headers. (#256 <ros2/rmw_fastrtps#256>)
  * pass context to wait set and fini context (#252 <ros2/rmw_fastrtps#252>)
  * Improve service_is_available logic to protect that client is waiting forever (#238 <ros2/rmw_fastrtps#238>)
  * Merge pull request #250 <ros2/rmw_fastrtps#250> from ros2/support_static_lib
  * use namespace_prefix from shared package
  * make namespace_prefix header public
  * Use empty() to check for an empty string (#247 <ros2/rmw_fastrtps#247>)
  * We can compare a std::string with a const char* using operator==, simplifies the code (#248 <ros2/rmw_fastrtps#248>)
  * Use empty() instead of size() to check if a vector/map contains elements and fixed some incorrect logging (#245 <ros2/rmw_fastrtps#245>)
  * Fix guard condition trigger error (#235 <ros2/rmw_fastrtps#235>)
  * Contributors: Chris Lalancette, Dirk Thomas, DongheeYe, Emerson Knapp, Jacob Perron, Johnny Willemsen, Ricardo González, William Woodall, ivanpauno
.
ros-rolling-rmw-fastrtps-shared-cpp (0.6.1-1jammy) jammy; urgency=high
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  * Add topic cache object for managing topic relations (#236 <ros2/rmw_fastrtps#236>)
  * Fix lint: remove trailing whitespace (#244 <ros2/rmw_fastrtps#244>)
  * Fastrtps 1.7.0 (#233 <ros2/rmw_fastrtps#233>)
  * RMW_FastRTPS configuration from XML only (#243 <ros2/rmw_fastrtps#243>)
  * Methods to retrieve matched counts on pub/sub (#234 <ros2/rmw_fastrtps#234>)
  * use uint8_array (#240 <ros2/rmw_fastrtps#240>)
  * Contributors: Jacob Perron, Juan Carlos, Karsten Knese, Michael Carroll, MiguelCompany, Ross Desmond
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ros-rolling-rmw-fastrtps-shared-cpp (0.6.0-1jammy) jammy; urgency=high
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  * use new error handling API from rcutils (#231 <ros2/rmw_fastrtps#231>)
  * Add semicolons to all RCLCPP and RCUTILS macros. (#229 <ros2/rmw_fastrtps#229>)
  * separating identity and permission CAs (#227 <ros2/rmw_fastrtps#227>)
  * Include node namespaces in get_node_names (#224 <ros2/rmw_fastrtps#224>)
  * allow builtin reader/writer to reallocate memory if needed (#221 <ros2/rmw_fastrtps#221>)
  * Improve runtime performance of rmw_count_XXX functions (#216 <ros2/rmw_fastrtps#216>) (#217 <ros2/rmw_fastrtps#217>)
  * Merge pull request #218 <ros2/rmw_fastrtps#218> from ros2/pr203
  * Refs #3061 <https://github.com/ros2/rmw_fastrtps/issues/3061>. Leaving common code only on rmw_fastrtps_shared_cpp.
  * Refs #3061 <https://github.com/ros2/rmw_fastrtps/issues/3061>. Package rmw_fastrtps_cpp copied to rmw_fastrtps_shared_cpp.
  * Contributors: Chris Lalancette, Dirk Thomas, Guillaume Autran, Michael Carroll, Miguel Company, Mikael Arguedas, William Woodall
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ros-rolling-rmw-fastrtps-shared-cpp (0.5.1-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-shared-cpp (0.5.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-shared-cpp (0.4.0-1jammy) jammy; urgency=high
timonegk pushed a commit to timonegk/ros-rolling-rmw-fastrtps-dynamic-cpp-release that referenced this pull request May 21, 2022
@hidmic @timonegk
Import Debian changes 6.2.1-1jammy
3438ed9 
ros-rolling-rmw-fastrtps-dynamic-cpp (6.2.1-1jammy) jammy; urgency=high
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  * Add content filter topic feature (#513 <ros2/rmw_fastrtps#513>)
  * Add sequence numbers to message info structure (#587 <ros2/rmw_fastrtps#587>)
  * Contributors: Chen Lihui, Ivan Santiago Paunovic
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ros-rolling-rmw-fastrtps-dynamic-cpp (6.2.0-1jammy) jammy; urgency=high
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  * Add EventsExecutor (#468 <ros2/rmw_fastrtps#468>)
  * Install headers to include/${PROJECT_NAME} (#578 <ros2/rmw_fastrtps#578>)
  * Contributors: Shane Loretz, iRobot ROS
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ros-rolling-rmw-fastrtps-dynamic-cpp (6.1.2-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-dynamic-cpp (6.1.1-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-dynamic-cpp (6.1.0-1jammy) jammy; urgency=high
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  * Add client/service QoS getters. (#560 <ros2/rmw_fastrtps#560>)
  * Contributors: mauropasse
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ros-rolling-rmw-fastrtps-dynamic-cpp (6.0.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-dynamic-cpp (5.2.2-1jammy) jammy; urgency=high
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  * Correctly recalculate serialized size on bounded sequences. (#540 <ros2/rmw_fastrtps#540>)
  * Fix type size alignment. (#550 <ros2/rmw_fastrtps#550>)
  * Contributors: Miguel Company
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ros-rolling-rmw-fastrtps-dynamic-cpp (5.2.1-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-dynamic-cpp (5.2.0-1jammy) jammy; urgency=high
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  * Add rmw_publisher_wait_for_all_acked support. (#519 <ros2/rmw_fastrtps#519>)
  * Contributors: Barry Xu
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ros-rolling-rmw-fastrtps-dynamic-cpp (5.1.0-1jammy) jammy; urgency=high
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  * Loan messages implementation (#523 <ros2/rmw_fastrtps#523>)
    * Added is_plain_ attribute to base TypeSupport.
    * Added new methods to base TypeSupport.
    * Implementation of rmw_borrow_loaned_message.
    * Implementation of rmw_return_loaned_message_from_publisher.
    * Enable loan messages on publishers of plain types.
    * Implementation for taking loaned messages.
    * Enable loan messages on subscriptions of plain types.
  * Contributors: Miguel Company
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ros-rolling-rmw-fastrtps-dynamic-cpp (5.0.0-1jammy) jammy; urgency=high
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  * Refactor to use DDS standard API (#518 <ros2/rmw_fastrtps#518>)
  * Unique network flows (#502 <ros2/rmw_fastrtps#502>)
  * updating quality declaration links (re: ros2/docs.ros2.org#52 <ros2/docs.ros2.org#52>) (#520 <ros2/rmw_fastrtps#520>)
  * Contributors: Miguel Company, shonigmann
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ros-rolling-rmw-fastrtps-dynamic-cpp (4.5.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-dynamic-cpp (4.4.0-1jammy) jammy; urgency=high
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  * Add RMW function to check QoS compatibility (#511 <ros2/rmw_fastrtps#511>)
  * Capture cdr exceptions (#505 <ros2/rmw_fastrtps#505>)
  * Load profiles based on topic names in rmw_fastrtps_dynamic_cpp (#497 <ros2/rmw_fastrtps#497>)
  * Contributors: Eduardo Ponz Segrelles, Jacob Perron, Miguel Company
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ros-rolling-rmw-fastrtps-dynamic-cpp (4.3.0-1jammy) jammy; urgency=high
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  * Set rmw_dds_common::GraphCache callback after init succeeds. (#496 <ros2/rmw_fastrtps#496>)
  * Handle typesupport errors on fetch. (#495 <ros2/rmw_fastrtps#495>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-dynamic-cpp (4.2.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-dynamic-cpp (4.1.0-1jammy) jammy; urgency=high
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  * Check for correct context shutdown (#486 <ros2/rmw_fastrtps#486>)
  * New environment variable to change easily the publication mode (#470 <ros2/rmw_fastrtps#470>)
  * Contributors: Ignacio Montesino Valle, José Luis Bueno López
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ros-rolling-rmw-fastrtps-dynamic-cpp (4.0.0-1jammy) jammy; urgency=high
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  * Discriminate when the Client has gone from when the Client has not completely matched (#467 <ros2/rmw_fastrtps#467>)
    * Workaround when the client is gone before server sends response
    * Change add to the map to listener callback
  * Update the package.xml files with the latest Open Robotics maintainers (#459 <ros2/rmw_fastrtps#459>)
  * Update Quality Declarations and READMEs (#455 <ros2/rmw_fastrtps#455>)
    * Add QL of external dependencies to rmw_fastrtps_dynamic_cpp QD
    * Add QD links for dependencies to rmw_fastrtps_dynamic_cpp QD
    * Provide external dependencies QD links
    * Add README to rmw_fastrtps_dynamic
    * Add QD for rmw_fastrtps_dynamic
  * Contributors: JLBuenoLopez-eProsima, Jaime Martin Losa, José Luis Bueno López, Michael Jeronimo
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ros-rolling-rmw-fastrtps-dynamic-cpp (3.1.4-1jammy) jammy; urgency=high
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  * Ensure rmw_destroy_node() completes despite run-time errors. (#458 <ros2/rmw_fastrtps#458>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-dynamic-cpp (3.1.3-1jammy) jammy; urgency=high
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  * Return RMW_RET_UNSUPPORTED in rmw_get_serialized_message_size (#452 <ros2/rmw_fastrtps#452>)
  * Contributors: Alejandro Hernández Cordero
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ros-rolling-rmw-fastrtps-dynamic-cpp (3.1.2-1jammy) jammy; urgency=high
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  * Updated publisher/subscription allocation and wait set API return codes (#443 <ros2/rmw_fastrtps#443>)
  * Added rmw_logging tests (#442 <ros2/rmw_fastrtps#442>)
  * Contributors: Alejandro Hernández Cordero
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ros-rolling-rmw-fastrtps-dynamic-cpp (3.1.1-1jammy) jammy; urgency=high
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  * Fix array get_function semantics (#448 <ros2/rmw_fastrtps#448>)
  * Make service/client construction/destruction implementation compliant (#445 <ros2/rmw_fastrtps#445>)
  * Make sure type can be unregistered successfully (#437 <ros2/rmw_fastrtps#437>)
  * Contributors: Barry Xu, Ivan Santiago Paunovic, Michel Hidalgo
.
ros-rolling-rmw-fastrtps-dynamic-cpp (3.1.0-1jammy) jammy; urgency=high
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  * Add tests for native entity getters. (#439 <ros2/rmw_fastrtps#439>)
  * Avoid deadlock if graph update fails. (#438 <ros2/rmw_fastrtps#438>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-dynamic-cpp (3.0.0-1jammy) jammy; urgency=high
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  * Call Domain::removePublisher while failure occurs in create_publisher (#434 <ros2/rmw_fastrtps#434>)
  * Avoid memory leaks and undefined behavior in rmw_fastrtps_dynamic_cpp typesupport code (#429 <ros2/rmw_fastrtps#429>)
  * Contributors: Barry Xu, Miguel Company
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ros-rolling-rmw-fastrtps-dynamic-cpp (2.6.0-1jammy) jammy; urgency=high
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  * Ensure compliant matched pub/sub count API. (#424 <ros2/rmw_fastrtps#424>)
  * Ensure compliant publisher QoS queries. (#425 <ros2/rmw_fastrtps#425>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-dynamic-cpp (2.5.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-dynamic-cpp (2.4.0-1jammy) jammy; urgency=high
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  * Ensure compliant subscription API. (#419 <ros2/rmw_fastrtps#419>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-dynamic-cpp (2.3.0-1jammy) jammy; urgency=high
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  * Ensure compliant publisher API. (#414 <ros2/rmw_fastrtps#414>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-dynamic-cpp (2.2.0-1jammy) jammy; urgency=high
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  * Set context actual domain id (#410 <ros2/rmw_fastrtps#410>)
  * Contributors: Ivan Santiago Paunovic
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ros-rolling-rmw-fastrtps-dynamic-cpp (2.1.0-1jammy) jammy; urgency=high
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  * Ensure compliant node construction/destruction API. (#408 <ros2/rmw_fastrtps#408>)
  * Contributors: Michel Hidalgo
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ros-rolling-rmw-fastrtps-dynamic-cpp (2.0.0-1jammy) jammy; urgency=high
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  * Remove domain_id and localhost_only from node API (#407 <ros2/rmw_fastrtps#407>)
  * Amend rmw_init() implementation: require enclave. (#406 <ros2/rmw_fastrtps#406>)
  * Contributors: Ivan Santiago Paunovic, Michel Hidalgo
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ros-rolling-rmw-fastrtps-dynamic-cpp (1.1.0-1jammy) jammy; urgency=high
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  * Ensure compliant init/shutdown API implementation. (#401 <ros2/rmw_fastrtps#401>)
  * Finalize context iff shutdown. (#396 <ros2/rmw_fastrtps#396>)
  * Make service wait for response reader (#390 <ros2/rmw_fastrtps#390>)
  * Contributors: Michel Hidalgo, Miguel Company
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ros-rolling-rmw-fastrtps-dynamic-cpp (1.0.1-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-dynamic-cpp (1.0.0-1jammy) jammy; urgency=high
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  * Fix single rmw build for rmw_fastrtps_dynamic_cpp (#381 <ros2/rmw_fastrtps#381>)
  * Remove API related to manual by node liveliness (#379 <ros2/rmw_fastrtps#379>)
  * Contributors: Ivan Santiago Paunovic
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ros-rolling-rmw-fastrtps-dynamic-cpp (0.9.1-1jammy) jammy; urgency=high
.
  * Added doxyfiles (#372 <ros2/rmw_fastrtps#372>)
  * Contributors: Alejandro Hernández Cordero
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ros-rolling-rmw-fastrtps-dynamic-cpp (0.9.0-1jammy) jammy; urgency=high
.
  * Fixed rmw_fastrtps_dynamic_cpp package description. (#376 <ros2/rmw_fastrtps#376>)
  * Rename rosidl_message_bounds_t. (#373 <ros2/rmw_fastrtps#373>)
  * Feature/services timestamps. (#369 <ros2/rmw_fastrtps#369>)
  * Add support for taking a sequence of messages. (#366 <ros2/rmw_fastrtps#366>)
  * security-context -> enclave. (#365 <ros2/rmw_fastrtps#365>)
  * Rename rosidl_generator_c namespace to rosidl_runtime_c. (#367 <ros2/rmw_fastrtps#367>)
  * Remove custom typesupport for rmw_dds_common interfaces. (#364 <ros2/rmw_fastrtps#364>)
  * Added rosidl_runtime c and cpp depencencies. (#351 <ros2/rmw_fastrtps#351>)
  * Switch to one Participant per Context. (#312 <ros2/rmw_fastrtps#312>)
  * Add rmw_*_event_init() functions. (#354 <ros2/rmw_fastrtps#354>)
  * Fixing type support C/CPP mix on rmw_fastrtps_dynamic_cpp. (#350 <ros2/rmw_fastrtps#350>)
  * Fix build warning in Ubuntu Focal. (#346 <ros2/rmw_fastrtps#346>)
  * Code style only: wrap after open parenthesis if not in one line. (#347 <ros2/rmw_fastrtps#347>)
  * Passing down type support information (#342 <ros2/rmw_fastrtps#342>)
  * Implement functions to get publisher and subcription informations like QoS policies from topic name. (#336 <ros2/rmw_fastrtps#336>)
  * Contributors: Alejandro Hernández Cordero, Dirk Thomas, Ingo Lütkebohle, Ivan Santiago Paunovic, Jaison Titus, Miaofei Mei, Michael Carroll, Miguel Company, Mikael Arguedas
.
ros-rolling-rmw-fastrtps-dynamic-cpp (0.8.1-1jammy) jammy; urgency=high
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  * use return_loaned_message_from (#334 <ros2/rmw_fastrtps#334>)
  * Restrict traffic to localhost only if env var is provided (#331 <ros2/rmw_fastrtps#331>)
  * Zero copy api (#322 <ros2/rmw_fastrtps#322>)
  * update signature for added pub/sub options (#329 <ros2/rmw_fastrtps#329>)
  * Contributors: Brian Marchi, Karsten Knese, William Woodall
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ros-rolling-rmw-fastrtps-dynamic-cpp (0.8.0-1jammy) jammy; urgency=high
.
  * Add function for getting clients by node (#293 <ros2/rmw_fastrtps#293>)
  * Use rcpputils::find_and_replace instead of std::regex_replace (#291 <ros2/rmw_fastrtps#291>)
  * Export typesupport_fastrtps package dependencies (#294 <ros2/rmw_fastrtps#294>)
  * Implement get_actual_qos() for subscriptions (#287 <ros2/rmw_fastrtps#287>)
  * Contributors: Jacob Perron, M. M, kurcha01-arm
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ros-rolling-rmw-fastrtps-dynamic-cpp (0.7.3-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-dynamic-cpp (0.7.2-1jammy) jammy; urgency=high
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  * add support for WString in rmw_fastrtps_dynamic_cpp (#278 <ros2/rmw_fastrtps#278>)
  * Centralize topic name creation logic and update to match FastRTPS 1.8 API (#272 <ros2/rmw_fastrtps#272>)
  * Contributors: Dirk Thomas, Nick Burek
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ros-rolling-rmw-fastrtps-dynamic-cpp (0.7.1-1jammy) jammy; urgency=high
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  * Support arbitrary message namespaces  (#266 <ros2/rmw_fastrtps#266>)
  * Add qos interfaces with no-op (#271 <ros2/rmw_fastrtps#271>)
  * Updates for preallocation API. (#274 <ros2/rmw_fastrtps#274>)
  * Contributors: Jacob Perron, Michael Carroll, Ross Desmond
.
ros-rolling-rmw-fastrtps-dynamic-cpp (0.7.0-1jammy) jammy; urgency=high
.
  * Add function to get publisher actual qos settings (#267 <ros2/rmw_fastrtps#267>)
  * pass context to wait set and fini context (#252 <ros2/rmw_fastrtps#252>)
  * Add missing logic to dynamic RMW client implementation (#254 <ros2/rmw_fastrtps#254>)
  * Merge pull request #250 <ros2/rmw_fastrtps#250> from ros2/support_static_lib
  * use namespace_prefix from shared package
  * Use empty() instead of size() to check if a vector/map contains elements and fixed some incorrect logging (#245 <ros2/rmw_fastrtps#245>)
  * Contributors: Dirk Thomas, Jacob Perron, Johnny Willemsen, William Woodall, ivanpauno
.
ros-rolling-rmw-fastrtps-dynamic-cpp (0.6.1-1jammy) jammy; urgency=high
.
  * Add topic cache object for managing topic relations (#236 <ros2/rmw_fastrtps#236>)
  * Fastrtps 1.7.0 (#233 <ros2/rmw_fastrtps#233>)
  * RMW_FastRTPS configuration from XML only (#243 <ros2/rmw_fastrtps#243>)
  * refactor to support init options and context (#237 <ros2/rmw_fastrtps#237>)
  * Methods to retrieve matched counts on pub/sub (#234 <ros2/rmw_fastrtps#234>)
  * Fixing failing tests on rmw_fastrtps_dynamic_cpp. (#242 <ros2/rmw_fastrtps#242>)
  * use uint8_array (#240 <ros2/rmw_fastrtps#240>)
  * fix linter warnings (#241 <ros2/rmw_fastrtps#241>)
  * Contributors: Dirk Thomas, Juan Carlos, Karsten Knese, Michael Carroll, MiguelCompany, Ross Desmond, William Woodall
.
ros-rolling-rmw-fastrtps-dynamic-cpp (0.6.0-1jammy) jammy; urgency=high
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  * Merge pull request #232 <ros2/rmw_fastrtps#232> from ros2/array-terminology
  * rename files
  * rename dynamic array to sequence
  * Add semicolons to all RCLCPP and RCUTILS macros. (#229 <ros2/rmw_fastrtps#229>)
  * Include node namespaces in get_node_names (#224 <ros2/rmw_fastrtps#224>)
  * add rmw_get_serialization_format (#215 <ros2/rmw_fastrtps#215>)
  * Merge pull request #218 <ros2/rmw_fastrtps#218> from ros2/pr203
  * Refs #3061 <https://github.com/ros2/rmw_fastrtps/issues/3061>. Adapting code on rmw_fastrtps_dynamic_cpp.
  * Refs #3061 <https://github.com/ros2/rmw_fastrtps/issues/3061>. Package rmw_fastrtps_cpp duplicated as rmw_fastrtps_dynamic_cpp.
  * Contributors: Chris Lalancette, Dirk Thomas, Karsten Knese, Michael Carroll, Miguel Company
.
ros-rolling-rmw-fastrtps-dynamic-cpp (0.5.1-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-dynamic-cpp (0.5.0-1jammy) jammy; urgency=high
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ros-rolling-rmw-fastrtps-dynamic-cpp (0.4.0-1jammy) jammy; urgency=high
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@ivanpauno ivanpauno ivanpauno approved these changes

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