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Retrieve HistoryQoS in discovery when available#829

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ahcorde merged 3 commits into
ros2:rollingfrom
eProsima:qos/history
Jun 4, 2025
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Retrieve HistoryQoS in discovery when available#829
ahcorde merged 3 commits into
ros2:rollingfrom
eProsima:qos/history

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@Mario-DL

@Mario-DL Mario-DL commented May 30, 2025 •
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Description

This PR adds the HistoryQoS to the entities discovery callback when available.
Related tests PRs

Fixes #684

Is this user-facing behavior change?

No

Did you use Generative AI?

No

Additional Information

Should be backported only to Kilted

@Mario-DL
Retrieve HistoryQoS in discovery when available
d688eb1 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@Mario-DL Mario-DL mentioned this pull request May 30, 2025
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@Mario-DL Mario-DL mentioned this pull request May 30, 2025
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@Mario-DL
Linter
5c6f53c 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@ahcorde

ahcorde commented May 30, 2025

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Pulls: #829, ros2/rcl#1242, ros2/ros2cli#1040
Gist: https://gist.githubusercontent.com/ahcorde/e1d6b10259d33a4a01ea1e33a4dc7da6/raw/ddeaa93863d812677523326fe68db8b191509d9d/ros2.repos
BUILD args: --packages-above-and-dependencies rcl rmw_fastrtps_shared_cpp ros2cli
TEST args: --packages-above rcl rmw_fastrtps_shared_cpp ros2cli
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/16136

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fujitatomoya
fujitatomoya reviewed May 30, 2025
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@Mario-DL are you trying to fix particular issue with this PR?

these are RTPS QoS, so i thought there is no history available via discovery process here. the new Fast-DDS supports this history QoS during this discovery process?

Comment thread rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp Outdated
@Mario-DL
Change if-else to switch
5346e28 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
@Mario-DL

Mario-DL commented Jun 2, 2025

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@Mario-DL are you trying to fix particular issue with this PR?

these are RTPS QoS, so i thought there is no history available via discovery process here. the new Fast-DDS supports this history QoS during this discovery process?

Yes (and commonly accepted across vendors). The standard defines the PID for the HistoryQoS but it is optional to exchange it during discovery since it does not intervene in the matching. In short, we simply made HistoryQoS available in the Data(r/w).

fujitatomoya
fujitatomoya approved these changes Jun 2, 2025
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lgtm with green CI

@ahcorde

ahcorde commented Jun 2, 2025 •
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  • Linux Build Status
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@ahcorde ahcorde merged commit e78f3f4 into ros2:rolling Jun 4, 2025
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@MiguelCompany MiguelCompany deleted the qos/history branch June 4, 2025 10:02
@MiguelCompany

MiguelCompany commented Jun 4, 2025

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Thanks for merging @ahcorde. Would be nice to backport this into kilted

@ahcorde

ahcorde commented Jun 4, 2025

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https://github.com/Mergifyio backport kilted

@mergify

mergify Bot commented Jun 4, 2025 •
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backport kilted

✅ Backports have been created

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mergify Bot pushed a commit that referenced this pull request Jun 4, 2025
@Mario-DL @mergify
Retrieve HistoryQoS in discovery when available (#829)
167e703 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
(cherry picked from commit e78f3f4)
This was referenced Jun 4, 2025
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ahcorde pushed a commit that referenced this pull request Jun 4, 2025
@mergify @Mario-DL
Retrieve HistoryQoS in discovery when available (#829) (#830)
69c97ee 
(cherry picked from commit e78f3f4)

Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
Co-authored-by: Mario Domínguez López <116071334+Mario-DL@users.noreply.github.com>
@emersonknapp

emersonknapp commented Oct 15, 2025 •
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@Mergifyio backport jazzy humble

@Mario-DL is it possible to backport this feature to Jazzy/Humble? Or is the version of Fast-DDS in use on those platforms too diverged to backport the new discovery information?

@mergify

mergify Bot commented Oct 15, 2025 •
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backport jazzy humble

✅ Backports have been created

Details

mergify Bot pushed a commit that referenced this pull request Oct 15, 2025
@Mario-DL @mergify
Retrieve HistoryQoS in discovery when available (#829)
b64408f 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
(cherry picked from commit e78f3f4)

# Conflicts:
#	rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
@mergify mergify Bot mentioned this pull request Oct 15, 2025
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mergify Bot pushed a commit that referenced this pull request Oct 15, 2025
@Mario-DL @mergify
Retrieve HistoryQoS in discovery when available (#829)
39a93dc 
Signed-off-by: Mario Dominguez <mariodominguez@eprosima.com>
(cherry picked from commit e78f3f4)

# Conflicts:
#	rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/qos.hpp
@mergify mergify Bot mentioned this pull request Oct 15, 2025
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@ahcorde ahcorde ahcorde approved these changes

@fujitatomoya fujitatomoya fujitatomoya approved these changes

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Successfully merging this pull request may close these issues.

get_publishers_info_by_topic does not return qos depth for publishers with fastDDS

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@Mario-DL @ahcorde @MiguelCompany @emersonknapp @fujitatomoya