Expose the QoS object wrapper

[gbiggs]

This PR exposes the QoS wrapper in rosbag_transport for use by external users. This enables users of rosbag2 to create their own recorder objects that mimic the behaviour of the provided Recorder object with regards to QoS.

[MichaelOrlov]

Looks good for me with green CI.

[MichaelOrlov]

Running CI
Gist: https://gist.githubusercontent.com/MichaelOrlov/83f9321f21d3e3f335e590b56aadbfdf/raw/f9d6343b8c9671d97c868ffc3c5689e8990fce87/ros2.repos
BUILD args: --packages-up-to rosbag2_transport rosbag2_tests
TEST args: --packages_select rosbag2_transport rosbag2_tests
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/9337/

• Linux
• Linux-aarch64
• macOS
• Windows

[MichaelOrlov]

Ups. I made mistake in gist.
Rerunning CI one more time
Gist: https://gist.githubusercontent.com/MichaelOrlov/83f9321f21d3e3f335e590b56aadbfdf/raw/b4a57608e47b583465cc965a2f53fdbad86e4d49/ros2.repos
BUILD args: --packages-up-to rosbag2_transport rosbag2_tests
TEST args: --packages_select rosbag2_transport rosbag2_tests
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/9338/

• Linux
• Linux-aarch64
• macOS
• Windows

[MichaelOrlov]

Something weird happening on CI. It looks like some problems with ccache.
CI reports some errors in test urdfdom_headers

Starting >>> urdfdom_headers
23:10:42 Traceback (most recent call last):
23:10:42   File "/home/jenkins-agent/workspace/ci_linux/venv/lib/python3.8/site-packages/colcon_core/executor/__init__.py", line 91, in __call__
23:10:42     rc = await self.task(*args, **kwargs)
23:10:42   File "/home/jenkins-agent/workspace/ci_linux/venv/lib/python3.8/site-packages/colcon_core/task/__init__.py", line 93, in __call__
23:10:42     return await task_method(*args, **kwargs)
23:10:42   File "/home/jenkins-agent/workspace/ci_linux/venv/lib/python3.8/site-packages/colcon_cmake/task/cmake/test.py", line 45, in test
23:10:42     assert os.path.exists(args.build_base), \
23:10:42 AssertionError: Has this package been built before?

This package present in Gist ros2.repos and it looks like that CI expecting to take it from ccache but it seems it's not there.

[MichaelOrlov]

Trying to rerun CI
Gist: https://gist.githubusercontent.com/MichaelOrlov/83f9321f21d3e3f335e590b56aadbfdf/raw/b4a57608e47b583465cc965a2f53fdbad86e4d49/ros2.repos
BUILD args: --packages-up-to rosbag2_cpp rosbag2_transport rosbag2_tests rosbag2
TEST args: --packages-select rosbag2_cpp rosbag2_transport rosbag2_tests rosbag2
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/9339/

• Linux
• Linux-aarch64
• macOS
• Windows

[MichaelOrlov]

@gbiggs I see some linker errors on Windows platform https://ci.ros2.org/job/ci_windows/15821/console#console-section-13.
Could you please take a look on it?

[emersonknapp]

Looks good though - take tidiness nitpick if you like

[gbiggs]

I changed the export to be on the class rather than the individual methods. @MichaelOrlov maybe this will fix those linker errors? I don't have any experience with Windows linking more recent than 20 years ago.

[MichaelOrlov]

@gbiggs I am also not an expert in Windows platform and don't have local install of the ROS build environment on Windows.
However I spawned rerun for Windows build on CI to see if it will pass with your latest changes.

• Windows

[gbiggs]

The linker errors are still happening, but I can't figure out why. @emersonknapp do you have any ideas?

[emersonknapp]

I think it was from some outdated CMake workarounds, from before qos.hpp was exposed for use. The new visibility macros made it so that test_qos declared as dllimport, while actually defining the functions within the same shared library, causing a mismatch. By removing that source file from the test library, I believe that gets rid of the problem.

all PRs require green CI - don't need to use "request changes" for this

[emersonknapp]

Gist: https://gist.githubusercontent.com/emersonknapp/ac55fdc23ec56ceadaeef4b401da616b/raw/a4b2a884c7a896a710454ad8a5d6a4df94fd0822/ros2.repos
BUILD args: --packages-up-to rosbag2_transport rosbag2_tests
TEST args: --packages-select rosbag2_transport rosbag2_tests
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/9369

• Linux
• Linux-aarch64
• macOS
• Windows

[emersonknapp]

At least that exposed a new issue:

Windows

[emersonknapp]

Had to remove the source file from another test

[emersonknapp]

I wish I had a repeatable Windows environment but haven't been able to figure that out - Docker on Windows is so hard to set up. This is a bit of a hassle:

[emersonknapp]

Gist: https://gist.githubusercontent.com/emersonknapp/b7c9052c91d5e019c0bb348d3cbb28a8/raw/a4b2a884c7a896a710454ad8a5d6a4df94fd0822/ros2.repos
BUILD args: --packages-up-to rosbag2_transport rosbag2_tests
TEST args: --packages-select rosbag2_transport rosbag2_tests
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/9375

• Linux
• Linux-aarch64
• macOS
• Windows