Add support for rmw_connextdds

[asorbini]

This PR removes all references to rmw_connext_cpp, so that it may be replaced by rmw_connextdds.

The PR re-enables a test which was previously disabled for Connext.

See rticommunity/rmw_connextdds #9 for a list of related PRs, and an overview of all the changes required to replace ros2/rmw_connext (rmw_connext_cpp) with rticommunity/rmw_connextdds in the ROS2 source tree.

[emersonknapp]

LGTM assuming green CI - are there any dependencies for this PR? I assume if I just ran ci_launcher now, it would fail on the rmw_connext_cpp tests?

[asorbini]

LGTM assuming green CI - are there any dependencies for this PR? I assume if I just ran ci_launcher now, it would fail on the rmw_connext_cpp tests?

I think you are correct. The merging of this PR will need to be coordinated with changes to the default ros2.repos, and updates to ros2/ci to fully replace rmw_connext_cpp.

I'm afraid there will be a short window of instability as all these changes are rolled out, but hopefully we will be able keep all failures to a minimum and make the transition as quick as possible.

Re: testing, you may want to try using this modified ros2.repos.

[emersonknapp]

I'm afraid there will be a short window of instability as all these changes are rolled out, but hopefully we will be able keep all failures to a minimum and make the transition as quick as possible.

I bet there is a way to do it without breaking anything :)

[ivanpauno]

we could keep a (.*)connext(.*)_cpp filter here, which would skip the test for the old rmw_connext_cpp and rmw_connext_dynamic_cpp, but not for rmw_connextdds.

[clalancette]

Seems reasonable to me with green CI.

[ivanpauno]

• Linux
• Linux-aarch64
• macOS
• Windows

[ivanpauno]

• Linux
• Linux-aarch64
• macOS
• Windows

[ivanpauno]

CI looks good (the warnings in aarch64 doesn't matter here, as rmw_connextdds wasn't added to the official ros2.repos here).

@emersonknapp could you merge this PR? thanks!

[clalancette]

CI looks good (the warnings in aarch64 doesn't matter here, as rmw_connextdds wasn't added to the official ros2.repos here).

It's not a problem for this PR (it won't make any difference), but it is probably going to be a problem for integrating the new RMW onto ci.ros2.org. But we can address that separately.

[ivanpauno]

It's not a problem for this PR (it won't make any difference), but it is probably going to be a problem for integrating the new RMW onto ci.ros2.org. But we can address that separately.

The trick currently in use in ci is that when the CI_USE_CONNEXT_STATIC option is not ☑️ , the rmw_connext_cpp and rmw_connext_shared_cpp packages are ignored.
By default, that option is not selected in aarch64 jobs, and it actually goes red if you click it.

So, I would follow the same idea here, ignoring those packages in the ci scripts when CI_USE_CONNEXT_STATIC is not chosen, rather than downgrading the warning to an info message.

[emersonknapp]

LGTM