fastrtps (Fast-DDS) version 2.3.x does not have ContentFilteredTopic required by humble branch

[henriksod]

Bug report

Required Info:

• Version or commit hash:
  • c6efdc9

Steps to reproduce issue

Incorrect fastrtps version is listed in the humble branch of this repo. It is listed as 2.3:

rmw_fastrtps/rmw_fastrtps_shared_cpp/CMakeLists.txt

Line 47 in c6efdc9

find_package(fastrtps 2.3 REQUIRED CONFIG)

fastrtps 2.3.x does not have fastdds/dds/topic/ContentFilteredTopic.hpp, as is required here:

rmw_fastrtps/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp

Line 32 in c6efdc9

#include "fastdds/dds/topic/ContentFilteredTopic.hpp"

Here is a link to fastrtps 2.3.6 under include/fastdds/dds/topic:
https://github.com/eProsima/Fast-DDS/tree/2.3.6/include/fastdds/dds/topic

This feature was added in fastrtps 2.5.0.
https://github.com/eProsima/Fast-DDS/releases/tag/v2.5.0

An additional issue is with the following call to eprosima::fastdds::dds::DataReader::get_unread_count:

rmw_fastrtps/rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_service_info.hpp

Line 206 in c6efdc9

return info_->request_reader_->get_unread_count(true);

The boolean function argument was added in 2.7.1:
eProsima/Fast-DDS@9586068

Expected behavior

The correct minimum fastrtps version to be listed in rmw_fastrtps_shared_cpp/CMakeLists.txt

Actual behavior

An incompatible minimum version of fastrtps is currently listed under rmw_fastrtps_shared_cpp/CMakeLists.txt in the humble branch.

Implementation considerations

Replace 2.3 L47 and L48 with 2.7.1:
https://github.com/ros2/rmw_fastrtps/blob/c6efdc9fd47cd50043535a2bff27a5c402728bab/rmw_fastrtps_shared_cpp/CMakeLists.txt

[clalancette]

Please feel free to open a pull request to update that; it would be much appreciated.

[fujitatomoya]

Replace 2.3 L47 and L48 with 2.7.1

eProsima/Fast-DDS#2825 has been backported to 2.6.x branch with eProsima/Fast-DDS#2843, which is available on 2.6.2 or later.

So i think it should be update into 2.6.2.

[fujitatomoya]

This has been addressed with Humble patch release 4b0f30f

root@tomoyafujita:~# dpkg -l | grep rmw-fastrtps
ii  ros-humble-rmw-fastrtps-cpp                       6.2.4-1jammy.20230919.211331            amd64        Implement the ROS middleware interface using eProsima FastRTPS static code generation in C++.
ii  ros-humble-rmw-fastrtps-shared-cpp                6.2.4-1jammy.20230919.205954            amd64        Code shared on static and dynamic type support of rmw_fastrtps_cpp.

and as we described above, it uses, v2.6.2

rmw_fastrtps/rmw_fastrtps_shared_cpp/CMakeLists.txt

Lines 47 to 48 in 4b0f30f

	find_package(fastrtps 2.6.2 REQUIRED CONFIG)
	find_package(FastRTPS 2.6.2 REQUIRED MODULE)

I will go ahead to close this issue.