ROS2 Jazzy support

[fabiannagel]

Hey there. I've been trying to get this middleware to run on Jazzy. The only combination that I got to build is with iceoryx from branch release_2.0 and rmw_iceoryx from branch iron.

The default talker & listener demos even work fine, but my own logic throws errors like these:

>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

  'failed to resolve symbol 'rmw_event_type_is_supported' in shared library '/root/iceoryx_ws/install/rmw_iceoryx_cpp/lib/librmw_iceoryx_cpp.so', at ./src/functions.cpp:152'

with this new error message:

  'failed to resolve symbol 'rmw_count_clients' in shared library '/root/iceoryx_ws/install/rmw_iceoryx_cpp/lib/librmw_iceoryx_cpp.so', at ./src/functions.cpp:152'

rcutils_reset_error() should be called after error handling to avoid this.
<<<

>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

  'failed to resolve symbol 'rmw_count_clients' in shared library '/root/iceoryx_ws/install/rmw_iceoryx_cpp/lib/librmw_iceoryx_cpp.so', at ./src/functions.cpp:152'

with this new error message:

  'failed to resolve symbol 'rmw_count_services' in shared library '/root/iceoryx_ws/install/rmw_iceoryx_cpp/lib/librmw_iceoryx_cpp.so', at ./src/functions.cpp:152'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
Log level set to: [Warning]

>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

  'failed to resolve symbol 'rmw_count_services' in shared library '/root/iceoryx_ws/install/rmw_iceoryx_cpp/lib/librmw_iceoryx_cpp.so', at ./src/functions.cpp:152'

with this new error message:

  'Handle's typesupport identifier (rosidl_typesupport_c) is not supported by this library, at ./src/type_support_dispatch.hpp:116'

rcutils_reset_error() should be called after error handling to avoid this.

Is there a timeline for Jazzy support, or some tricks on how to get it to run? Thanks!

[mossmaurice]

@fabiannagel Thanks for reporting this issue! 🙏

I think some of those methods were recently added to rmw as part of the Jazzy release:

1. rmw_event_type_is_supported
   1. Events are not supported yet, but shouldn't be needed in the typical setup. I think adding a return RMW_RET_UNSUPPORTED should be sufficient and not cause any troubles in ROS 2 apps
2. rmw_count_clients
   1. The iceoryx (classic) introspection does only support pub/sub and no client/server (see Integrate Request-Response into introspection eclipse-iceoryx/iceoryx#1128)
   2. Hence, I would also add a return RMW_RET_UNSUPPORTED, but this should be an issue, only the ROS graph will not reflect services

Would you be interested in addressing those issues? Your help would be much appreciated! If yes, I'm happy to branch off a jazzy branch from the iron branch, and you can open a PR to jazzy? After some further testing, we can then officially release rmw_iceoryx for Jazzy.