Update rosidl cpp path to emit rosidl::Buffer for uint8[] type#942
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Update rosidl cpp path to emit rosidl::Buffer for uint8[] type#942
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Pulls: #942
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This PR depends on ros2/rosidl_typesupport_fastrtps#144 so can't be CI-tested alone. |
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Triggered with custom ros2.repos that contain all PRs: https://raw.githubusercontent.com/nvcyc/ros2/refs/heads/rolling-native-buffer-prs/ros2.repos Started by user CY Chen
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Signed-off-by: CY Chen <cyc@nvidia.com>
Signed-off-by: CY Chen <cyc@nvidia.com>
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* Add support for rosidl::Buffer in rosidl C path for rclpy Signed-off-by: CY Chen <cyc@nvidia.com> * Add rosidl_buffer_py to rosidl_runtime_packages group Signed-off-by: CY Chen <cyc@nvidia.com> * Remove unused has_buffer_fields_ field from introspection C Signed-off-by: CY Chen <cyc@nvidia.com> * Simplify rosidl_buffer Python bindings Signed-off-by: CY Chen <cyc@nvidia.com> * Add owns_rosidl_buffer in sequence struct to handle buffer lifecycle Signed-off-by: CY Chen <cyc@nvidia.com> * Add Python type stub for Buffer class Signed-off-by: CY Chen <cyc@nvidia.com> * Remove unused test assertion for introspection Signed-off-by: CY Chen <cyc@nvidia.com> * Add comments for the limitation of _take_buffer_from_ptr Signed-off-by: CY Chen <cyc@nvidia.com> * Revert adding a line in msg__functions.c.em Signed-off-by: CY Chen <cyc@nvidia.com> * Update rosidl_buffer/c_helpers.h to use the right comment style Signed-off-by: CY Chen <cyc@nvidia.com> --------- Signed-off-by: CY Chen <cyc@nvidia.com>
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) ROS 2 Rolling merged ros2/rosidl#941 and ros2/rosidl#942 as part of the native buffer feature. The ROSIDL_RUNTIME_C__PRIMITIVE_SEQUENCE macro now emits two extra boolean fields (is_rosidl_buffer, owns_rosidl_buffer) in every primitive sequence struct, growing them from 24 to 32 bytes. Non-primitive sequences (e.g. Parameter__Sequence) are unchanged at 24 bytes. The rclnodejs code generator produces ref-struct-di definitions for these sequence types. Because the generated layout lacked the new fields, every message containing a primitive sequence had misaligned field offsets when serialized, causing Fast DDS to segfault in get_serialized_size_* during rcl_publish. Changes: 1. rosidl_gen/templates/message-template.js — Detect Rolling+ at generation time via DistroUtils.getDistroId() and compute needsRosidlBufferFields once per message. Conditionally emit is_rosidl_buffer and owns_rosidl_buffer in the generated sequence struct only for primitive-package types (Bool, Byte, Int8, …, Float64, String) on Rolling+. Generated files get clean, static struct definitions with no runtime require() or ternary. 2. .github/workflows/linux-x64-build-and-test.yml — Add rosidl_buffer_py and pybind11 to rosdep --skip-keys for the Rolling nightly install, since these new packages from the native buffer feature have unresolvable rosdep keys in the tarball context. Verified: Rolling: test-parameters (33), test-parameter-service (9), test-action-client (19) — all pass. Jazzy: test-parameters (33), test-parameter-service (9), test-action-client (18+1 pending) — all pass. Fix: #1481
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Description
This pull request makes the C++ rosidl layer Buffer-aware, enabling
rclcppmessage types to userosidl::Buffer<uint8_t>foruint8[]fields. It modifiesrosidl_runtime_cpp,rosidl_generator_cpp, androsidl_typesupport_introspection_cppso that generated C++ messages, trait utilities, and introspection metadata all understand the new Buffer type introduced in PR #941.This pull request consists of the following key changes:
rosidl_runtime_cpp: Added trait specializations forBuffer<T>and a dependency onrosidl_buffer.rosidl_generator_cpp: The code generator now emitsrosidl::Buffer<uint8_t>instead ofstd::vector<uint8_t>foruint8[]message fields.rosidl_typesupport_introspection_cpp: The goal for the changes in C++ introspection is to keep it working with CPU-based buffers. The buffer-based introspection accessors throw exceptions for non-CPU backends.Is this user-facing behavior change?
With this PR, all C++ message types with
uint8[]fields (e.g.,sensor_msgs::msg::Image::data) will have their field type changed fromstd::vector<uint8_t>torosidl::Buffer<uint8_t>. By default, a CPU-basedBuffer<T>type is used, which is a transparent drop-in replacement forstd::vector<T>, so existing user code should compile and work unchanged.Did you use Generative AI?
Yes. Claude (claude-4.6-opus) via Cursor was used to assist with creating an initial prototype version of the changes contained in this PR.
Additional Information
This PR is part of the broader ROS 2 native buffer feature introduced in this post. It depends on PR #941 (
rosidl_buffer+rosidl_buffer_backend).