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Merge pull request #10 from robograph-project/emerson/jazzy-latest
Jazzy: merge latest upstream
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‎rmw_implementation/CHANGELOG.rst‎

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Changelog for package rmw_implementation
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.15.6 (2025-08-05)
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-------------------
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* Fixed windows warning (`#254 <https://github.com/ros2/rmw_implementation/issues/254>`_) (`#260 <https://github.com/ros2/rmw_implementation/issues/260>`_)
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(cherry picked from commit 8c006087e3af66a79f61dbe0ff45e7a1ef31a686)
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Co-authored-by: Alejandro Hernández Cordero <[email protected]>
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* Contributors: mergify[bot]
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2.15.5 (2025-03-12)
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-------------------
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* Added rmw_event_type_is_supported (`#250 <https://github.com/ros2/rmw_implementation/issues/250>`_) (`#252 <https://github.com/ros2/rmw_implementation/issues/252>`_)

‎rmw_implementation/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>rmw_implementation</name>
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<version>2.15.5</version>
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<version>2.15.6</version>
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<description>Proxy implementation of the ROS 2 Middleware Interface.</description>
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<maintainer email="[email protected]">William Woodall</maintainer>

‎test_rmw_implementation/CHANGELOG.rst‎

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Changelog for package test_rmw_implementation
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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2.15.6 (2025-08-05)
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-------------------
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* Test failing deserialization of invalid sequence length (`#261 <https://github.com/ros2/rmw_implementation/issues/261>`_) (`#263 <https://github.com/ros2/rmw_implementation/issues/263>`_)
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* Add test infrastructure.
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* Test that deserialization with wrong sequence length fails.
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---------
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(cherry picked from commit 4dd5d571a5bfa1a67183acf271dfa442932c7572)
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Co-authored-by: Miguel Company <[email protected]>
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* add ignore_local_publications_serialized test. (`#255 <https://github.com/ros2/rmw_implementation/issues/255>`_) (`#257 <https://github.com/ros2/rmw_implementation/issues/257>`_)
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(cherry picked from commit 1eceed45fbdbe6b93bb49993f1bed9698aeca38f)
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Co-authored-by: Tomoya Fujita <[email protected]>
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* Contributors: mergify[bot]
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2.15.5 (2025-03-12)
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-------------------
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* Added rmw_event_type_is_supported (`#250 <https://github.com/ros2/rmw_implementation/issues/250>`_) (`#252 <https://github.com/ros2/rmw_implementation/issues/252>`_)

‎test_rmw_implementation/package.xml‎

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>test_rmw_implementation</name>
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<version>2.15.5</version>
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<version>2.15.6</version>
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<description>Test suite for ROS middleware API.</description>
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<maintainer email="[email protected]">William Woodall</maintainer>

‎test_rmw_implementation/test/test_serialize_deserialize.cpp‎

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// limitations under the License.
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#include <gtest/gtest.h>
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#include <cstring>
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#include "osrf_testing_tools_cpp/scope_exit.hpp"
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#include "test_msgs/msg/bounded_plain_sequences.h"
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#include "test_msgs/msg/bounded_plain_sequences.hpp"
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#include "test_msgs/msg/unbounded_sequences.h"
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#include "test_msgs/msg/unbounded_sequences.hpp"
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#include "./allocator_testing_utils.h"
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static void check_bad_cdr_sequence_cases(
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const rosidl_message_type_support_t * ts,
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void * message)
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{
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// Serialized CDR buffer for a data with all sequences empty.
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constexpr size_t kBufferSize = 132;
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const uint8_t valid_data[kBufferSize] = {
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0x01, 0x00, 0x00, 0x00, // representation header (CDR little endian)
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0x00, 0x00, 0x00, 0x00, // bool[] bool_values
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0x00, 0x00, 0x00, 0x00, // byte[] byte_values
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0x00, 0x00, 0x00, 0x00, // char[] char_values
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0x00, 0x00, 0x00, 0x00, // float32[] float32_values
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0x00, 0x00, 0x00, 0x00, // float64[] float64_values
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0x00, 0x00, 0x00, 0x00, // int8[] int8_values
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0x00, 0x00, 0x00, 0x00, // uint8[] uint8_values
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0x00, 0x00, 0x00, 0x00, // int16[] int16_values
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0x00, 0x00, 0x00, 0x00, // uint16[] uint16_values
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0x00, 0x00, 0x00, 0x00, // int32[] int32_values
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0x00, 0x00, 0x00, 0x00, // uint32[] uint32_values
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0x00, 0x00, 0x00, 0x00, // int64[] int64_values
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0x00, 0x00, 0x00, 0x00, // uint64[] uint64_values
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0x00, 0x00, 0x00, 0x00, // string[] string_values
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0x00, 0x00, 0x00, 0x00, // BasicTypes[] basic_types_values
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0x00, 0x00, 0x00, 0x00, // Constants[] constants_values
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0x00, 0x00, 0x00, 0x00, // Defaults[] defaults_values
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0x00, 0x00, 0x00, 0x00, // bool[] bool_values_default
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0x00, 0x00, 0x00, 0x00, // byte[] byte_values_default
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0x00, 0x00, 0x00, 0x00, // char[] char_values_default
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0x00, 0x00, 0x00, 0x00, // float32[] float32_values_default
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0x00, 0x00, 0x00, 0x00, // float64[] float64_values_default
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0x00, 0x00, 0x00, 0x00, // int8[] int8_values_default
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0x00, 0x00, 0x00, 0x00, // uint8[] uint8_values_default
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0x00, 0x00, 0x00, 0x00, // int16[] int16_values_default
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0x00, 0x00, 0x00, 0x00, // uint16[] uint16_values_default
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0x00, 0x00, 0x00, 0x00, // int32[] int32_values_default
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0x00, 0x00, 0x00, 0x00, // uint32[] uint32_values_default
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0x00, 0x00, 0x00, 0x00, // int64[] int64_values_default
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0x00, 0x00, 0x00, 0x00, // uint64[] uint64_values_default
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0x00, 0x00, 0x00, 0x00, // string[] string_values_default
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0x00, 0x00, 0x00, 0x00 // int32 alignment_check
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};
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uint8_t buffer[kBufferSize];
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memcpy(buffer, valid_data, kBufferSize);
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// The first 4 bytes are the CDR representation header, which we don't modify.
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constexpr size_t kFirstSequenceOffset = 4;
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// The last 4 bytes are the alignment check, which we also don't modify.
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constexpr size_t kLastSequenceOffset = kBufferSize - 4;
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// Each sequence length is stored as a 4-byte unsigned integer.
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constexpr size_t kSequenceLengthSize = 4;
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for (size_t i = kFirstSequenceOffset; i < kLastSequenceOffset; i += kSequenceLengthSize) {
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// Corrupt the buffer by changing the size of a sequence to an invalid value.
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buffer[i] = 0xFF;
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buffer[i + 1] = 0xFF;
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buffer[i + 2] = 0xFF;
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buffer[i + 3] = 0xFF;
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// Expect the deserialization to fail.
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rmw_serialized_message_t serialized_message = rmw_get_zero_initialized_serialized_message();
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serialized_message.buffer = const_cast<uint8_t *>(buffer);
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serialized_message.buffer_length = sizeof(buffer);
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serialized_message.buffer_capacity = sizeof(buffer);
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rmw_ret_t ret = rmw_deserialize(&serialized_message, ts, message);
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EXPECT_NE(RMW_RET_OK, ret);
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rmw_reset_error();
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// Restore the buffer to a valid state.
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buffer[i] = 0x00;
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buffer[i + 1] = 0x00;
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buffer[i + 2] = 0x00;
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buffer[i + 3] = 0x00;
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}
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}
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TEST(TestSerializeDeserialize, get_serialization_format) {
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const char * serialization_format = rmw_get_serialization_format();
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EXPECT_NE(nullptr, serialization_format);
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EXPECT_EQ(input_message.uint16_values.data[0], output_message.uint16_values.data[0]);
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}
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TEST(TestSerializeDeserialize, bad_cdr_sequence_correctly_fails_for_c) {
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{
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const char * serialization_format = rmw_get_serialization_format();
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if (0 != strcmp(serialization_format, "cdr")) {
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GTEST_SKIP();
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}
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}
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const rosidl_message_type_support_t * ts{
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ROSIDL_GET_MSG_TYPE_SUPPORT(test_msgs, msg, UnboundedSequences)};
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test_msgs__msg__UnboundedSequences output_message{};
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ASSERT_TRUE(test_msgs__msg__UnboundedSequences__init(&output_message));
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OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
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{
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test_msgs__msg__UnboundedSequences__fini(&output_message);
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});
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check_bad_cdr_sequence_cases(ts, &output_message);
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}
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TEST(TestSerializeDeserialize, clean_round_trip_for_cpp_message) {
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const rosidl_message_type_support_t * ts =
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rosidl_typesupport_cpp::get_message_type_support_handle<test_msgs::msg::BasicTypes>();
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EXPECT_EQ(input_message, output_message);
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}
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TEST(TestSerializeDeserialize, bad_cdr_sequence_correctly_fails_for_cpp) {
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{
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const char * serialization_format = rmw_get_serialization_format();
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if (0 != strcmp(serialization_format, "cdr")) {
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GTEST_SKIP();
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}
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}
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using TestMessage = test_msgs::msg::UnboundedSequences;
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const rosidl_message_type_support_t * ts =
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rosidl_typesupport_cpp::get_message_type_support_handle<TestMessage>();
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TestMessage output_message{};
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check_bad_cdr_sequence_cases(ts, &output_message);
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}
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TEST(TestSerializeDeserialize, rmw_get_serialized_message_size)
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{
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if (rmw_get_serialized_message_size(nullptr, nullptr, nullptr) != RMW_RET_UNSUPPORTED) {

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