Tracking bug for reverting changes made to ported packages for field initialization

[clalancette]

During the development of ROS2 beta2 and beta3, we fixed a bunch of flaky tests by manually initializing fields in the test code. Now that the zero initialization work has gone in (ros2/rosidl#236), we can revert those changes. In some cases, these repositories are forks from upstream ROS1 versions, so these reverts will get the forks closer to upstream. While we are at it, we should probably consider merging fixes from the ROS2 forked versions to their upstreams, and merging fixes from their upstreams to the ROS2 forked versions.

• rcl_interfaces
  • Provide defaults for ParameterValue fields rcl_interfaces#18 (already reverted in Revert "Provide defaults for ParameterValue fields (#18)" rcl_interfaces#24)
• geometry2 (revert now unnecessary message initializations geometry2#64)
  • Make the failure test more like the old one. geometry2#19
  • Fix use of uninitialized memory in simple_tf2_core tests. geometry2#18
  • ros2/geometry2@31791b0
  • initialize whole quaternion geometry2#28
  • ros2/geometry2@d957ba6
• vision_opencv (Ros2 revert handmade message initialization ros-perception/vision_opencv#245)
  • All of the code in the constructor: https://github.com/ros2/vision_opencv/blob/ros2/image_geometry/src/pinhole_camera_model.cpp#L33
  • The code setting fields to zero in cam_info_, starting here: https://github.com/ros2/vision_opencv/blob/ros2/image_geometry/test/utest.cpp#L30
• depthimage_to_laserscan
  • The code that sets fields of depth_msg_ and info_msg_ to 0, starting here: https://github.com/ros2/depthimage_to_laserscan/blob/ros2/test/DepthImageToLaserScanTest.cpp#L70
• ros_astra_camera
  • ros2/ros_astra_camera@3f16915
• teleop_twist_joy
  • The code initializing the cmd_vel_msg to zero, starting here: https://github.com/ros2/teleop_twist_joy/blob/ros2/src/teleop_twist_joy.cpp#L160
• turtlebot2_demo
  • Various pieces of message initialization in the kobuki_node, starting around here: https://github.com/ros2/turtlebot2_demo/blob/master/turtlebot2_drivers/src/kobuki_node.cpp#L153
  • Initialization of cmd_vel fields to 0 in the follower, starting here: https://github.com/ros2/turtlebot2_demo/blob/master/turtlebot2_follower/src/follower.cpp#L221

[mikaelarguedas]

@clalancette is it something that's still on your radar?

[clalancette]

While this would be a good thing to do to get us back closer to the respective upstreams, it is not a priority for me right now.

[dirk-thomas]

Please prioritize this item in order to close it out and reduce the difference of the ROS 2 forks/branches.

[mikaelarguedas]

@clalancette FYI I reverted the changes on the first few repos and updated the issue description accordingly.

Can you please use permalinks in the future? (several links were dead making it harder to track down the changes)
Thanks!

[clalancette]

The first half of this was done long ago. The remaining items either are old (and need an update to bring up to new ROS 2 anyway), deprecated, or already done. Because of all of that, I'm going to go ahead and close this.