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Drop support for ROS 2 Iron #981

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merged 2 commits into from
Dec 25, 2024
Merged

Drop support for ROS 2 Iron #981

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1f870c0
Drop support for ROS 2 Iron
sea-bass Dec 18, 2024
e971732
Finish reenabling action capabilities tests
sea-bass Dec 18, 2024
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2 changes: 0 additions & 2 deletions .github/workflows/ci.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -22,8 +22,6 @@ jobs:
# Test supported ROS 2 distributions
# https://docs.ros.org/en/rolling/Releases.html
# NOTE: Humble does not work on the `ros2` branch, so it is tested in its own branch.
- ros: iron
os: ubuntu-22.04
- ros: jazzy
os: ubuntu-24.04
- ros: rolling
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6 changes: 2 additions & 4 deletions README.md
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Expand Up @@ -2,7 +2,6 @@ rosbridge_suite
===============

[![ROS Humble version](https://img.shields.io/ros/v/humble/rosbridge_suite)](https://index.ros.org/p/rosbridge_suite/github-RobotWebTools-rosbridge_suite/#humble)
[![ROS Iron version](https://img.shields.io/ros/v/iron/rosbridge_suite)](https://index.ros.org/p/rosbridge_suite/github-RobotWebTools-rosbridge_suite/#iron)
[![ROS Jazzy version](https://img.shields.io/ros/v/jazzy/rosbridge_suite)](https://index.ros.org/p/rosbridge_suite/github-RobotWebTools-rosbridge_suite/#jazzy)
[![ROS Rolling version](https://img.shields.io/ros/v/rolling/rosbridge_suite)](https://index.ros.org/p/rosbridge_suite/github-RobotWebTools-rosbridge_suite/#rolling)

Expand Down Expand Up @@ -56,11 +55,10 @@ Releasing requires push access to [RobotWebTools/rosbridge_suite](https://github
3. Run `catkin_prepare_release --bump [major/minor/patch]` to bump versions in package.xml and push changes to origin.
4. Run bloom-release commands to create PRs to update rosdistro:
- `bloom-release --rosdistro humble rosbridge_suite`
- `bloom-release --rosdistro iron rosbridge_suite`
- `bloom-release --rosdistro jazzy rosbridge_suite`
- `bloom-release --rosdistro rolling rosbridge_suite`

Note that right now, the Humble release is tracked in the `humble` branch, while Iron and later are tracked in the `ros2` branch.
Note that right now, the Humble release is tracked in the `humble` branch, while Jazzy and later are tracked in the `ros2` branch.

Once the PRs are merged, packages will be available for each distro after the next sync.
Build/sync status can be viewed at: [humble](http://repo.ros2.org/status_page/ros_humble_default.html), [iron](http://repo.ros2.org/status_page/ros_iron_default.html), [jazzy](http://repo.ros2.org/status_page/ros_jazzy_default.html), and [rolling](http://repo.ros2.org/status_page/ros_rolling_default.html).
Build/sync status can be viewed at: [humble](http://repo.ros2.org/status_page/ros_humble_default.html), [jazzy](http://repo.ros2.org/status_page/ros_jazzy_default.html), and [rolling](http://repo.ros2.org/status_page/ros_rolling_default.html).
13 changes: 2 additions & 11 deletions rosbridge_library/test/capabilities/test_action_capabilities.py
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Expand Up @@ -7,7 +7,7 @@
import rclpy
from action_msgs.msg import GoalStatus
from example_interfaces.action._fibonacci import Fibonacci_FeedbackMessage
from rclpy.executors import SingleThreadedExecutor
from rclpy.executors import MultiThreadedExecutor
from rclpy.node import Node
from rclpy.qos import DurabilityPolicy, QoSProfile, ReliabilityPolicy
from rosbridge_library.capabilities.action_feedback import ActionFeedback
Expand All @@ -25,7 +25,7 @@
class TestActionCapabilities(unittest.TestCase):
def setUp(self):
rclpy.init()
self.executor = SingleThreadedExecutor()
self.executor = MultiThreadedExecutor()
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What's the reasoning behind this change?

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@sea-bass sea-bass Dec 18, 2024 •
edited
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The tests that were previously skipped seem to have needed this. I was getting some flaky behavior without this for some reason.

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I have very bad experiences with the MultiThreadedExecutor, see ros2/rclpy#1223. So we need to make sure we use CycloneDDS to limit the issues. (Or keep using the SingleThreadedExecutor)

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They work fine on my end with single threaded executor

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@sea-bass sea-bass Dec 18, 2024 •
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Alright -- I've put it back into SingleThreaded EDIT: #981 (comment)

That rclpy is issue is very concerning! wow

self.node = Node("test_action_capabilities")
self.executor.add_node(self.node)

Expand Down Expand Up @@ -97,9 +97,6 @@ def test_advertise_action(self):
)
self.advertise.advertise_action(advertise_msg)

@unittest.skip(
reason="Currently fails in Iron due to https://github.com/ros2/rclpy/issues/1195. Unskip when Iron is EOL in Nov 2024."
)
def test_execute_advertised_action(self):
# Advertise the action
action_path = "/fibonacci_action_2"
Expand Down Expand Up @@ -205,9 +202,6 @@ def test_execute_advertised_action(self):
self.assertEqual(self.received_message["values"]["sequence"], [0, 1, 1, 2, 3, 5])
self.assertEqual(self.received_message["status"], GoalStatus.STATUS_SUCCEEDED)

@unittest.skip(
reason="Currently fails in due to https://github.com/ros2/rclpy/issues/1195, need to fix this"
)
def test_cancel_advertised_action(self):
# Advertise the action
action_path = "/fibonacci_action_3"
Expand Down Expand Up @@ -301,7 +295,6 @@ def test_cancel_advertised_action(self):
self.assertEqual(self.received_message["values"]["sequence"], [])
self.assertEqual(self.received_message["status"], GoalStatus.STATUS_CANCELED)

@unittest.skip("Currently raises an exception not catchable by unittest, need to fix this")
def test_unadvertise_action(self):
# Advertise the action
action_path = "/fibonacci_action_4"
Expand Down Expand Up @@ -346,8 +339,6 @@ def test_unadvertise_action(self):
self.assertTrue("id" in self.received_message)

# Now unadvertise the action
# TODO: This raises an exception, likely because of the following rclpy issue:
# https://github.com/ros2/rclpy/issues/1098
unadvertise_msg = loads(dumps({"op": "unadvertise_action", "action": action_path}))
self.received_message = None
self.unadvertise.unadvertise_action(unadvertise_msg)
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