Backport array optimization to Galactic and Foxy

[sloretz]

This is an issue to backport #129 to Galactic and Foxy. I think it would be a good idea to have it sit in Rolling a little bit to make sure it works since it changes something so low level.

[pulkitgoyal1506]

@sloretz Can we merge this patch on foxy now?
I am facing this issue on ros2::foxy, it would be great if this can be merged.

[sloretz]

Seems like it has worked fine in Rolling. I'll backport to Galactic first out of caution since it's a very low level change.

#145

[sloretz]

Released to Galactic in 0.11.1 ros/rosdistro#30955

[hidmic]

@sloretz have we backported this to Foxy already?

[sloretz]

Yeah it's been backported. It might need a foxy release

[jacobperron]

This has also been released into Foxy.

[travipross]

This has also been released into Foxy.

@jacobperron Did you mean this as in, fetching the latest container from Dockerhub for ros2:foxy should include this fix?

I see this issue is listed as "Needs release" in the Foxy Release Patch 8 project, so I wasn't sure whether to expect this to exist in the official Docker image.

[jacobperron]

@travipross The patch was backported to Foxy in #146 and released in 0.9.5. It looks like 0.9.5 has also been sync'd to the main release repository: http://repo.ros2.org/status_page/ros_foxy_default.html?q=rosidl_python
So, the binary package should be available in Ubuntu. I'm not involved in maintaining the Docker image for Foxy, so I'm not sure what is required for updating it.

[jacobperron]

And, the Foxy Patch release board is lagging behind a bit since I have to update it manually.