Setup repos for Zenoh

.github/workflows/build_and_test.yml

@@ -8,7 +8,7 @@ on:
     types: [opened, reopened, synchronize]
 
 jobs:
-  build_and_test_desktop:
+  build_and_test_fastdds_desktop:
     runs-on: ubuntu-24.04
     steps:
     - name: Install Java
@@ -27,7 +27,7 @@ jobs:
       run: |
         mkdir -p ros2_java_ws/src
         cd ros2_java_ws
-        curl -sL file://${{ github.workspace }}/ros2_java_desktop.repos | vcs import src
+        curl -sL file://${{ github.workspace }}/ros2_java_desktop_fastdds.repos | vcs import src
         # Use checked out version of ros2_java
         rm -rf src/ros2-java/ros2_java
         ln --symbolic ${{ github.workspace }} src/ros2-java
@@ -41,7 +41,40 @@ jobs:
         source install/setup.bash
         colcon test --event-handlers=console_direct+ --packages-select rosidl_generator_java_tests rosidl_generator_java rcljava_common rcljava
         colcon test-result --verbose
-  build_android:
+  build_and_test_zenoh_desktop:
+    runs-on: ubuntu-24.04
+    steps:
+    - name: Install Java
+      run: |
+        sudo apt-get update -qq
+        sudo apt-get install -y openjdk-21-jre
+    - name: Install dependencies
+      run: |
+        sudo apt-get update -qq
+        sudo apt-get install -y libasio-dev libbenchmark-dev
+    - uses: ros-tooling/setup-ros@0.7.9
+      with:
+        required-ros-distributions: jazzy
+    - uses: actions/checkout@v4.2.1
+    - name: Setup workspace with VCS repo file
+      run: |
+        mkdir -p ros2_java_ws/src
+        cd ros2_java_ws
+        curl -sL file://${{ github.workspace }}/ros2_java_desktop_zenoh.repos | vcs import src
+        # Use checked out version of ros2_java
+        rm -rf src/ros2-java/ros2_java
+        ln --symbolic ${{ github.workspace }} src/ros2-java
+    - name: Run Colcon Build
+      run: |
+        cd ros2_java_ws
+        colcon build --event-handlers=console_direct+ --symlink-install --packages-up-to rosidl_generator_java_tests rosidl_generator_java rcljava_common rcljava
+    - name: Run Colcon Test
+      run: |
+        cd ros2_java_ws
+        source install/setup.bash
+        colcon test --event-handlers=console_direct+ --packages-select rosidl_generator_java_tests rosidl_generator_java rcljava_common rcljava
+        colcon test-result --verbose
+  build_fastdds_android:
     runs-on: ubuntu-24.04
     steps:
     - name: Install Java
@@ -70,7 +103,7 @@ jobs:
       run: |
         mkdir -p ros2_java_ws/src
         cd ros2_java_ws
-        curl -sL file://${{ github.workspace }}/ros2_java_android.repos | vcs import src
+        curl -sL file://${{ github.workspace }}/ros2_java_android_fastdds.repos | vcs import src
         # Use checked out version of ros2_java
         rm -rf src/ros2-java/ros2_java
         ln --symbolic ${{ github.workspace }} src/ros2-java

rcljava/src/test/java/org/ros2/rcljava/node/NodeTest.java

@@ -1092,20 +1092,31 @@ public final void testGetPublishersInfo() {
     new Consumer<Collection<EndpointInfo>>() {
       public void accept(final Collection<EndpointInfo> info) {
         assertEquals(info.size(), 2);
-        Iterator<EndpointInfo> it = info.iterator();
-        EndpointInfo item = it.next();
-        assertEquals("test_node", item.nodeName);
-        assertEquals("/", item.nodeNamespace);
-        assertEquals("rcljava/msg/UInt32", item.topicType);
-        assertEquals(item.endpointType, EndpointInfo.EndpointType.PUBLISHER);
-        assertEquals(item.qos.getReliability(), Reliability.RELIABLE);
-        item = it.next();
-        assertEquals("test_node", item.nodeName);
-        assertEquals("/", item.nodeNamespace);
-        assertEquals("rcljava/msg/UInt32", item.topicType);
-        assertEquals(item.endpointType, EndpointInfo.EndpointType.PUBLISHER);
-        assertEquals(item.qos.getReliability(), Reliability.BEST_EFFORT);
-        assertFalse(it.hasNext());
+        boolean hasSeenReliable = false;
+        boolean hasSeenBestEffort = false;
+
+        for (EndpointInfo item : info) {
+          assertEquals("test_node", item.nodeName);
+          assertEquals("/", item.nodeNamespace);
+          assertEquals("rcljava/msg/UInt32", item.topicType);
+          assertEquals(EndpointInfo.EndpointType.PUBLISHER, item.endpointType);
+
+          // The order of returned publishers it not stable across RMW implementations, so the test
+          // must support receiving them in either order
+          assertTrue(Reliability.RELIABLE == item.qos.getReliability() || Reliability.BEST_EFFORT == item.qos.getReliability());
+
+          // We can only see each Reliability type once
+          if (Reliability.RELIABLE == item.qos.getReliability()) {
+            assertFalse(hasSeenReliable);
+            hasSeenReliable = true;
+          } else if (Reliability.BEST_EFFORT == item.qos.getReliability()) {
+            assertFalse(hasSeenBestEffort);
+            hasSeenBestEffort = true;
+          }
+        }
+
+        assertTrue(hasSeenReliable);
+        assertTrue(hasSeenBestEffort);
       }
     };
 
@@ -1149,20 +1160,31 @@ public void accept(final rcljava.msg.UInt32 msg) {}
     new Consumer<Collection<EndpointInfo>>() {
       public void accept(final Collection<EndpointInfo> info) {
         assertEquals(info.size(), 2);
-        Iterator<EndpointInfo> it = info.iterator();
-        EndpointInfo item = it.next();
-        assertEquals("test_node", item.nodeName);
-        assertEquals("/", item.nodeNamespace);
-        assertEquals("rcljava/msg/UInt32", item.topicType);
-        assertEquals(item.endpointType, EndpointInfo.EndpointType.SUBSCRIPTION);
-        assertEquals(item.qos.getReliability(), Reliability.RELIABLE);
-        item = it.next();
-        assertEquals("test_node", item.nodeName);
-        assertEquals("/", item.nodeNamespace);
-        assertEquals("rcljava/msg/UInt32", item.topicType);
-        assertEquals(item.endpointType, EndpointInfo.EndpointType.SUBSCRIPTION);
-        assertEquals(item.qos.getReliability(), Reliability.BEST_EFFORT);
-        assertFalse(it.hasNext());
+        boolean hasSeenReliable = false;
+        boolean hasSeenBestEffort = false;
+
+        for (EndpointInfo item : info) {
+          assertEquals("test_node", item.nodeName);
+          assertEquals("/", item.nodeNamespace);
+          assertEquals("rcljava/msg/UInt32", item.topicType);
+          assertEquals(EndpointInfo.EndpointType.SUBSCRIPTION, item.endpointType);
+
+          // The order of returned publishers it not stable across RMW implementations, so the test
+          // must support receiving them in either order
+          assertTrue(Reliability.RELIABLE == item.qos.getReliability() || Reliability.BEST_EFFORT == item.qos.getReliability());
+
+          // We can only see each Reliability type once
+          if (Reliability.RELIABLE == item.qos.getReliability()) {
+            assertFalse(hasSeenReliable);
+            hasSeenReliable = true;
+          } else if (Reliability.BEST_EFFORT == item.qos.getReliability()) {
+            assertFalse(hasSeenBestEffort);
+            hasSeenBestEffort = true;
+          }
+        }
+
+        assertTrue(hasSeenReliable);
+        assertTrue(hasSeenBestEffort);
       }
     };
 

rcljava/src/test/java/org/ros2/rcljava/publisher/PublisherTest.java

@@ -93,6 +93,13 @@ public final void testCreateAndDispose() {
   @Test
   public final void testCreateLivelinessLostEvent() {
     RCLJava.rclJavaInit();
+
+    String identifier = RCLJava.getRMWIdentifier();
+    if (identifier.equals("rmw_zenoh_cpp")) {
+      // LivelinessLost events are not supported in Zenoh yet.
+      return;
+    }
+
     Node node = RCLJava.createNode("test_node");
     Publisher<std_msgs.msg.String> publisher =
         node.<std_msgs.msg.String>createPublisher(std_msgs.msg.String.class, "test_topic");
@@ -114,7 +121,7 @@ public void accept(final LivelinessLost status) {
   @Test
   public final void testCreateOfferedQosIncompatibleEvent() {
     String identifier = RCLJava.getRMWIdentifier();
-    if (identifier.equals("rmw_fastrtps_cpp") || identifier.equals("rmw_fastrtps_dynamic_cpp")) {
+    if (identifier.equals("rmw_fastrtps_cpp") || identifier.equals("rmw_fastrtps_dynamic_cpp") || identifier.equals("rmw_zenoh_cpp")) {
       // event not supported in these implementations
       return;
     }
@@ -144,6 +151,13 @@ public void accept(final OfferedQosIncompatible status) {
   @Test
   public final void testCreateOfferedDeadlineMissedEvent() {
     RCLJava.rclJavaInit();
+
+    String identifier = RCLJava.getRMWIdentifier();
+    if (identifier.equals("rmw_zenoh_cpp")) {
+      // OfferedDeadlineMissed events are not supported in Zenoh yet.
+      return;
+    }
+
     Node node = RCLJava.createNode("test_node");
     Publisher<std_msgs.msg.String> publisher =
         node.<std_msgs.msg.String>createPublisher(std_msgs.msg.String.class, "test_topic");

rcljava/src/test/java/org/ros2/rcljava/subscription/SubscriptionTest.java

@@ -75,6 +75,12 @@ public void accept(final std_msgs.msg.String msg) {}
   @Test
   public final void testCreateLivelinessChangedEvent() {
     String identifier = RCLJava.getRMWIdentifier();
+
+    if (identifier.equals("rmw_zenoh_cpp")) {
+      // LivelinessChanged events are not supported in Zenoh yet.
+      return;
+    }
+
     RCLJava.rclJavaInit();
     Node node = RCLJava.createNode("test_node");
     Subscription<std_msgs.msg.String> subscription = node.<std_msgs.msg.String>createSubscription(
@@ -101,6 +107,12 @@ public void accept(final LivelinessChanged status) {
   @Test
   public final void testCreateRequestedDeadlineMissedEvent() {
     String identifier = RCLJava.getRMWIdentifier();
+
+    if (identifier.equals("rmw_zenoh_cpp")) {
+      // RequestedDeadlineMissed events are not supported in Zenoh yet.
+      return;
+    }
+
     RCLJava.rclJavaInit();
     Node node = RCLJava.createNode("test_node");
     Subscription<std_msgs.msg.String> subscription = node.<std_msgs.msg.String>createSubscription(
@@ -125,7 +137,7 @@ public void accept(final RequestedDeadlineMissed status) {
   @Test
   public final void testCreateRequestedQosIncompatibleEvent() {
     String identifier = RCLJava.getRMWIdentifier();
-    if (identifier.equals("rmw_fastrtps_cpp") || identifier.equals("rmw_fastrtps_dynamic_cpp")) {
+    if (identifier.equals("rmw_fastrtps_cpp") || identifier.equals("rmw_fastrtps_dynamic_cpp") || identifier.equals("rmw_zenoh_cpp")) {
       // event not supported in these implementations
       return;
     }
@@ -154,7 +166,7 @@ public void accept(final RequestedQosIncompatible status) {
   @Test
   public final void testCreateMessageLost() {
     String identifier = RCLJava.getRMWIdentifier();
-    if (identifier.equals("rmw_fastrtps_cpp") || identifier.equals("rmw_fastrtps_dynamic_cpp")) {
+    if (identifier.equals("rmw_fastrtps_cpp") || identifier.equals("rmw_fastrtps_dynamic_cpp") || identifier.equals("rmw_zenoh_cpp")) {
       // event not supported in these implementations
       return;
     }

ros2_java_android.repos → ros2_java_android_fastdds.repos

@@ -167,7 +167,7 @@ repositories:
     version: jazzy
   ros2/rmw_implementation:
     type: git
-    url: https://github.com/ros2/rmw_implementation.git
+    url: https://github.com/skalldri/rmw_implementation.git
     version: jazzy
   ros2/rpyutils:
     type: git