Fix shared memory for fastrtps

repositories/fastcdr.BUILD.bazel

@@ -13,12 +13,12 @@ cache_entries = {
  "CMAKE_POSITION_INDEPENDENT_CODE": "ON", # Must be set!
  "BUILD_SHARED_LIBS": "OFF",
  # FastCDR specific options.
- "EPROSIMA_INSTALLER": "OFF",
- "EPROSIMA_BUILD": "OFF",
- "EPROSIMA_BUILD_TESTS": "OFF",
  "APPEND_PROJECT_NAME_TO_INCLUDEDIR": "OFF",
  "BUILD_DOCUMENTATION": "OFF",
  "CHECK_DOCUMENTATION": "OFF",
+ "EPROSIMA_BUILD": "OFF",
+ "EPROSIMA_BUILD_TESTS": "OFF",
+ "EPROSIMA_INSTALLER": "OFF",
 }
 
 cmake(

repositories/fastrtps.BUILD.bazel

@@ -1,8 +1,68 @@
 """ Builds FastDDS.
 """
 
+load("@bazel_skylib//lib:dicts.bzl", "dicts")
+load("@bazel_skylib//lib:selects.bzl", "selects")
+load("@bazel_skylib//rules:common_settings.bzl", "bool_flag")
 load("@rules_foreign_cc//foreign_cc:defs.bzl", "cmake")
 
+bool_flag(
+ name = "enable_shm",
+ build_setting_default = False,
+)
+
+config_setting(
+ name = "enable_shm_on",
+ flag_values = {":enable_shm": "True"},
+ visibility = ["//visibility:public"],
+)
+
+config_setting(
+ name = "enable_shm_off",
+ flag_values = {":enable_shm": "False"},
+ visibility = ["//visibility:public"],
+)
+
+selects.config_setting_group(
+ name = "linux_or_macos",
+ match_any = [
+ "@platforms//os:linux",
+ "@platforms//os:macos",
+ ],
+)
+
+selects.config_setting_group(
+ name = "linux_or_macos_with_shm",
+ match_all = [
+ ":linux_or_macos",
+ ":enable_shm_on",
+ ],
+)
+
+selects.config_setting_group(
+ name = "qnx_with_shm",
+ match_all = [
+ "@platforms//os:qnx",
+ ":enable_shm_on",
+ ],
+)
+
+selects.config_setting_group(
+ name = "linux_or_macos_without_shm",
+ match_all = [
+ ":linux_or_macos",
+ ":enable_shm_off",
+ ],
+)
+
+selects.config_setting_group(
+ name = "qnx_without_shm",
+ match_all = [
+ "@platforms//os:qnx",
+ ":enable_shm_off",
+ ],
+)
+
 filegroup(
  name = "all_srcs",
  srcs = glob(["**"]),
@@ -13,16 +73,24 @@ cache_entries = {
  "CMAKE_POSITION_INDEPENDENT_CODE": "ON", # Must be set!
  "BUILD_SHARED_LIBS": "OFF",
  # FastDDS specific options.
- "SECURITY": "OFF",
- "NO_TLS": "ON",
- "SHM_TRANSPORT_DEFAULT": "ON",
+ "BUILD_DOCUMENTATION": "OFF",
+ "CHECK_DOCUMENTATION": "OFF",
+ "COMPILE_EXAMPLES": "OFF",
  "COMPILE_TOOLS": "OFF",
- "INSTALL_TOOLS": "OFF",
  "FASTDDS_STATISTICS": "OFF",
- "COMPILE_EXAMPLES": "OFF",
  "INSTALL_EXAMPLES": "OFF",
- "BUILD_DOCUMENTATION": "OFF",
- "CHECK_DOCUMENTATION": "OFF",
+ "INSTALL_TOOLS": "OFF",
+ "NO_TLS": "ON",
+ "SECURITY": "OFF",
+ "SHM_TRANSPORT_DEFAULT": "ON",
+}
+
+cache_entries_with_shm = {
+ "SHM_TRANSPORT_DEFAULT": "ON",
+}
+
+cache_entries_without_shm = {
+ "SHM_TRANSPORT_DEFAULT": "OFF",
 }
 
 cmake(
@@ -31,13 +99,29 @@ cmake(
  "--",
  "-j4",
  ],
- cache_entries = cache_entries,
+ cache_entries = select(
+ {
+ ":enable_shm_on": dicts.add(
+ cache_entries,
+ cache_entries_with_shm,
+ ),
+ ":enable_shm_off": dicts.add(
+ cache_entries,
+ cache_entries_without_shm,
+ ),
+ },
+ no_match_error = "Unsupported build configuration",
+ ),
  lib_source = ":all_srcs",
  linkopts = select(
  {
- "@platforms//os:linux": ["-lpthread"],
- "@platforms//os:macos": ["-lpthread"],
- "@platforms//os:qnx": [],
+ ":linux_or_macos_with_shm": [
+ "-lpthread",
+ "-lrt",
+ ],
+ ":qnx_with_shm": ["-lrt"],
+ ":linux_or_macos_without_shm": ["-lpthread"],
+ ":qnx_without_shm": [],
  },
  no_match_error = "Only Linux, macOS and QNX are supported!",
  ),

repositories/rmw_fastrtps.BUILD.bazel

@@ -10,11 +10,13 @@ load(
 ros2_cpp_library(
  name = "rmw_fastrtps_shared_cpp",
  srcs = glob([
- "rmw_fastrtps_shared_cpp/include/**/*.h",
- "rmw_fastrtps_shared_cpp/include/**/*.hpp",
  "rmw_fastrtps_shared_cpp/src/*.cpp",
  "rmw_fastrtps_shared_cpp/src/**/*.hpp",
  ]),
+ hdrs = glob([
+ "rmw_fastrtps_shared_cpp/include/**/*.h",
+ "rmw_fastrtps_shared_cpp/include/**/*.hpp",
+ ]),
  includes = ["rmw_fastrtps_shared_cpp/include"],
  visibility = ["//visibility:public"],
  deps = [

repositories/rmw_implementation.BUILD.bazel

@@ -14,15 +14,15 @@ ros2_cpp_library(
  data = select(
  {
  "@com_github_mvukov_rules_ros2//ros2:use_cyclonedds": ["@ros2_rmw_cyclonedds//:rmw_cyclonedds"],
- "@com_github_mvukov_rules_ros2//ros2:use_fastdds": ["@ros2_rmw_fastrtps//:rmw_fastrtps_dynamic_cpp"],
+ "@com_github_mvukov_rules_ros2//ros2:use_fastdds_dynamic": ["@ros2_rmw_fastrtps//:rmw_fastrtps_dynamic_cpp"],
  },
  no_match_error = "Unsupported dds vendor",
  ),
  includes = ["include"],
  local_defines = select(
  {
  "@com_github_mvukov_rules_ros2//ros2:use_cyclonedds": ["RMW_LIBRARY_PATH=\\\"$(rootpath @ros2_rmw_cyclonedds//:rmw_cyclonedds)\\\""],
- "@com_github_mvukov_rules_ros2//ros2:use_fastdds": ["RMW_LIBRARY_PATH=\\\"$(rootpath @ros2_rmw_fastrtps//:rmw_fastrtps_dynamic_cpp)\\\""],
+ "@com_github_mvukov_rules_ros2//ros2:use_fastdds_dynamic": ["RMW_LIBRARY_PATH=\\\"$(rootpath @ros2_rmw_fastrtps//:rmw_fastrtps_dynamic_cpp)\\\""],
  },
  no_match_error = "Unsupported dds vendor",
  ),

repositories/ros2_repo_mappings.yaml

@@ -19,7 +19,7 @@ repositories:
  name: fastcdr
  build_file: "@com_github_mvukov_rules_ros2//repositories:fastcdr.BUILD.bazel"
  fastrtps:
- name: fastrtps
+ name: fastrtps # 2.6.2
  build_file: "@com_github_mvukov_rules_ros2//repositories:fastrtps.BUILD.bazel"
  foonathan_memory:
  name: foonathan_memory
@@ -108,6 +108,9 @@ repositories:
  rmw_fastrtps:
  name: ros2_rmw_fastrtps
  build_file: "@com_github_mvukov_rules_ros2//repositories:rmw_fastrtps.BUILD.bazel"
+ patch_args: ["-p1"]
+ patches:
+ - "@com_github_mvukov_rules_ros2//repositories/patches:rmw_fastrtps-fix-typesupport-conditions-bug.patch"
  rmw_implementation:
  name: ros2_rmw_implementation
  build_file: "@com_github_mvukov_rules_ros2//repositories:rmw_implementation.BUILD.bazel"

ros2/BUILD.bazel

@@ -67,7 +67,6 @@ py_binary(
  ],
 )
 
-# DDS vendor settings
 string_flag(
  name = "dds_vendor",
  build_setting_default = "cyclonedds",
@@ -84,7 +83,7 @@ config_setting(
 )
 
 config_setting(
- name = "use_fastdds",
+ name = "use_fastdds_dynamic",
  flag_values = {":dds_vendor": "fastdds"},
  visibility = ["//visibility:public"],
 )