Bump zenoh-cpp to 2a127bb, zenoh-c to 3540a3c, and zenoh to f735bf5 #503

Mallets · 2025-03-05T16:07:14Z

This PR makes the following changes of commit ids:

zenoh-cpp 2a127bb (diff)
zenoh-c 3540a3c (diff)
zenoh f735bf5 (diff)

It inherits these changes:

Reword SHM warning log about "setting scheduling priority":
- Improve watchdog confirmator warn message eclipse-zenoh/zenoh#1778
Performances improvements at launch time:
Fixed open timeout
- Account for link creation in the open timeout eclipse-zenoh/zenoh#1796
Improve ACL behaviour, notably for S-ROS
Reduce the number of threads in case of scouting
- Replace async-std with ZRuntime and tokio eclipse-zenoh/zenoh-c#937

Yadunund

@Mallets thanks for working on all these improvements!

I'm seeing some flakiness with rcl_action/test_action_client and rcl_action/test_action_server but these tests seem to also be flaky on rolling.

Are you able to reproduce this with

colcon test --event-handlers console_cohesion+ console_direct+ --packages-select rcl_action --ctest-args -R test_action_server --retest-until-fail 5

colcon test --event-handlers console_cohesion+ console_direct+ --packages-select rcl_action --ctest-args -R test_action_client --retest-until-fail 5

Mallets · 2025-03-06T11:01:30Z

I get these errors from a fresh clone of rmw_zenoh:

/usr/bin/vcs:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
  from pkg_resources import load_entry_point
---
Finished <<< zenoh_cpp_vendor [4min 14s]
Starting >>> rmw_zenoh_cpp
--- stderr: rmw_zenoh_cpp
/home/luca/ws_rmw_zenoh_bump-zenoh-f735bf5/src/rmw_zenoh/rmw_zenoh_cpp/src/rmw_init_options.cpp: In function ‘rmw_ret_t rmw_init_options_copy(const rmw_init_options_t*, rmw_init_options_t*)’:
/home/luca/ws_rmw_zenoh_bump-zenoh-f735bf5/src/rmw_zenoh/rmw_zenoh_cpp/src/rmw_init_options.cpp:104:11: error: ‘rmw_enclave_options_copy’ was not declared in this scope; did you mean ‘rmw_init_options_copy’?
  104 |     ret = rmw_enclave_options_copy(src->enclave, &allocator, &tmp.enclave);
      |           ^~~~~~~~~~~~~~~~~~~~~~~~
      |           rmw_init_options_copy
/home/luca/ws_rmw_zenoh_bump-zenoh-f735bf5/src/rmw_zenoh/rmw_zenoh_cpp/src/rmw_init_options.cpp: In lambda function:
/home/luca/ws_rmw_zenoh_bump-zenoh-f735bf5/src/rmw_zenoh/rmw_zenoh_cpp/src/rmw_init_options.cpp:112:9: error: ‘rmw_enclave_options_fini’ was not declared in this scope; did you mean ‘rmw_init_options_fini’?
  112 |         rmw_enclave_options_fini(tmp.enclave, &allocator);
      |         ^~~~~~~~~~~~~~~~~~~~~~~~
      |         rmw_init_options_fini
/home/luca/ws_rmw_zenoh_bump-zenoh-f735bf5/src/rmw_zenoh/rmw_zenoh_cpp/src/rmw_init_options.cpp: In function ‘rmw_ret_t rmw_init_options_fini(rmw_init_options_t*)’:
/home/luca/ws_rmw_zenoh_bump-zenoh-f735bf5/src/rmw_zenoh/rmw_zenoh_cpp/src/rmw_init_options.cpp:150:11: error: ‘rmw_enclave_options_fini’ was not declared in this scope; did you mean ‘rmw_init_options_fini’?
  150 |     ret = rmw_enclave_options_fini(init_options->enclave, allocator);
      |           ^~~~~~~~~~~~~~~~~~~~~~~~
      |           rmw_init_options_fini
gmake[2]: *** [CMakeFiles/rmw_zenoh_cpp.dir/build.make:468: CMakeFiles/rmw_zenoh_cpp.dir/src/rmw_init_options.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
gmake[1]: *** [CMakeFiles/Makefile2:139: CMakeFiles/rmw_zenoh_cpp.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< rmw_zenoh_cpp [6.66s, exited with code 2]

Summary: 1 package finished [4min 21s]
  1 package failed: rmw_zenoh_cpp
  2 packages had stderr output: rmw_zenoh_cpp zenoh_cpp_vendor

It seems related to #491. Unfortunately fujitatomoya/rmw_options_enclave branch has been deleted and I can't try to compile it.

ahcorde · 2025-03-06T11:59:18Z

I get these errors from a fresh clone of rmw_zenoh:

/usr/bin/vcs:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
  from pkg_resources import load_entry_point
---
Finished <<< zenoh_cpp_vendor [4min 14s]
Starting >>> rmw_zenoh_cpp
--- stderr: rmw_zenoh_cpp
/home/luca/ws_rmw_zenoh_bump-zenoh-f735bf5/src/rmw_zenoh/rmw_zenoh_cpp/src/rmw_init_options.cpp: In function ‘rmw_ret_t rmw_init_options_copy(const rmw_init_options_t*, rmw_init_options_t*)’:
/home/luca/ws_rmw_zenoh_bump-zenoh-f735bf5/src/rmw_zenoh/rmw_zenoh_cpp/src/rmw_init_options.cpp:104:11: error: ‘rmw_enclave_options_copy’ was not declared in this scope; did you mean ‘rmw_init_options_copy’?
  104 |     ret = rmw_enclave_options_copy(src->enclave, &allocator, &tmp.enclave);
      |           ^~~~~~~~~~~~~~~~~~~~~~~~
      |           rmw_init_options_copy
/home/luca/ws_rmw_zenoh_bump-zenoh-f735bf5/src/rmw_zenoh/rmw_zenoh_cpp/src/rmw_init_options.cpp: In lambda function:
/home/luca/ws_rmw_zenoh_bump-zenoh-f735bf5/src/rmw_zenoh/rmw_zenoh_cpp/src/rmw_init_options.cpp:112:9: error: ‘rmw_enclave_options_fini’ was not declared in this scope; did you mean ‘rmw_init_options_fini’?
  112 |         rmw_enclave_options_fini(tmp.enclave, &allocator);
      |         ^~~~~~~~~~~~~~~~~~~~~~~~
      |         rmw_init_options_fini
/home/luca/ws_rmw_zenoh_bump-zenoh-f735bf5/src/rmw_zenoh/rmw_zenoh_cpp/src/rmw_init_options.cpp: In function ‘rmw_ret_t rmw_init_options_fini(rmw_init_options_t*)’:
/home/luca/ws_rmw_zenoh_bump-zenoh-f735bf5/src/rmw_zenoh/rmw_zenoh_cpp/src/rmw_init_options.cpp:150:11: error: ‘rmw_enclave_options_fini’ was not declared in this scope; did you mean ‘rmw_init_options_fini’?
  150 |     ret = rmw_enclave_options_fini(init_options->enclave, allocator);
      |           ^~~~~~~~~~~~~~~~~~~~~~~~
      |           rmw_init_options_fini
gmake[2]: *** [CMakeFiles/rmw_zenoh_cpp.dir/build.make:468: CMakeFiles/rmw_zenoh_cpp.dir/src/rmw_init_options.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
gmake[1]: *** [CMakeFiles/Makefile2:139: CMakeFiles/rmw_zenoh_cpp.dir/all] Error 2
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< rmw_zenoh_cpp [6.66s, exited with code 2]

Summary: 1 package finished [4min 21s]
  1 package failed: rmw_zenoh_cpp
  2 packages had stderr output: rmw_zenoh_cpp zenoh_cpp_vendor

It seems related to #491. Unfortunately fujitatomoya/rmw_options_enclave branch has been deleted and I can't try to compile it.

are you compiling from source ? or packages ?

From source you should pull your ros2_rolling/src/ros2 packages

cd <path to ros2_ws>
vcs pull src < ros2.repos

packages you can use rolling testing packages instead of stables. I bloomed yesterday rmw

Mallets · 2025-03-06T13:53:52Z

I'm compiling from source and I just forgot to do vcs pull src < ros2.repos.
All is good now.

These are the results of the tests on my VM:

colcon test --event-handlers console_cohesion+ console_direct+ --packages-select rcl_action --ctest-args -R test_action_server --retest-until-fail 5

gives

1/1 Test #11: test_action_server ...............   Passed    6.44 sec

The following tests passed:
	test_action_server

100% tests passed, 0 tests failed out of 1

Label Time Summary:
gtest    =   6.44 sec*proc (1 test)

Total Test time (real) =  38.80 sec
---
Finished <<< rcl_action [39.6s]

Summary: 1 package finished [40.4s]

colcon test --event-handlers console_cohesion+ console_direct+ --packages-select rcl_action --ctest-args -R test_action_client --retest-until-fail 5

gives

1/1 Test #1: test_action_client ...............   Passed    1.86 sec

The following tests passed:
	test_action_client

100% tests passed, 0 tests failed out of 1

Label Time Summary:
gtest    =   1.86 sec*proc (1 test)

Total Test time (real) =   7.75 sec
---
Finished <<< rcl_action [8.32s]

Summary: 1 package finished [9.07s]

Yadunund · 2025-03-06T16:53:45Z

@Mallets thanks for testing. It might have been an issue with my setup. Good to merge!

Yadunund · 2025-03-06T16:54:03Z

@Mergifyio backport jazzy humble

mergify · 2025-03-06T16:54:26Z

backport jazzy humble

✅ Backports have been created

#511 Bump zenoh-cpp to 2a127bb, zenoh-c to 3540a3c, and zenoh to f735bf5 (backport #503) has been created for branch jazzy
#512 Bump zenoh-cpp to 2a127bb, zenoh-c to 3540a3c, and zenoh to f735bf5 (backport #503) has been created for branch humble

…503) (cherry picked from commit 19b7f77)

…503) (#511) (cherry picked from commit 19b7f77) Co-authored-by: Luca Cominardi <[email protected]>

Bump zenoh-cpp to 2a127bb, zenoh-c to 3540a3c, and zenoh to f735bf5

13dcd74

Yadunund approved these changes Mar 6, 2025

View reviewed changes

Yadunund merged commit 19b7f77 into ros2:rolling Mar 6, 2025
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mergify bot pushed a commit that referenced this pull request Mar 6, 2025

Bump zenoh-cpp to 2a127bb, zenoh-c to 3540a3c, and zenoh to f735bf5 (#…

5c5c3a1

…503) (cherry picked from commit 19b7f77)

mergify bot pushed a commit that referenced this pull request Mar 6, 2025

Bump zenoh-cpp to 2a127bb, zenoh-c to 3540a3c, and zenoh to f735bf5 (#…

4c6d068

…503) (cherry picked from commit 19b7f77)

This was referenced Mar 6, 2025

Bump zenoh-cpp to 2a127bb, zenoh-c to 3540a3c, and zenoh to f735bf5 (backport #503) #511

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Bump zenoh-cpp to 2a127bb, zenoh-c to 3540a3c, and zenoh to f735bf5 (backport #503) #512

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Bump zenoh-cpp to 2a127bb, zenoh-c to 3540a3c, and zenoh to f735bf5 (#…

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…503) (#511) (cherry picked from commit 19b7f77) Co-authored-by: Luca Cominardi <[email protected]>

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Bump zenoh-cpp to 2a127bb, zenoh-c to 3540a3c, and zenoh to f735bf5 #503

Bump zenoh-cpp to 2a127bb, zenoh-c to 3540a3c, and zenoh to f735bf5 #503

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Bump zenoh-cpp to 2a127bb, zenoh-c to 3540a3c, and zenoh to f735bf5 #503

Bump zenoh-cpp to 2a127bb, zenoh-c to 3540a3c, and zenoh to f735bf5 #503

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