ROS2 bouncy release

[ghost]

I've been trying to get and android build to work with the new bouncy release of ROS2, not yet with great success. My guess is that the switch to colcon as a build system is the main problem (I've been able to get an "ordinary" arm cross-compilation build working ros2-for-arm/ros2#5)

Do you have any suggestions for how to complete the process?

[esteve]

CI tracks ROS2 master (https://travis-ci.org/esteve/ros2_java/jobs/401430849 https://travis-ci.org/esteve/ros2_java/jobs/401430850), so it ros2-android work with Bouncy (which is just a few days older than master). Could you elaborate a bit about the issues you had building ros2-android for Bouncy?

Regarding colcon, for now ament_tools is still fine, but I'm migrating ament_java to colcon-ros-gradle. If you don't use the ROS2 Gradle plugin, colcon should work (but I unfortunately haven't had time to test it) as is with ros2-android

[ghost]

Apologies for the confusion, it turns out I was accidentally using ardent on my (linux) publisher, so the messages weren't being picked up by the bouncy (android) subscriber. Thanks for your help.

[esteve]

No worries. Thanks for the quick response!

[flewber]

So just to clarify, as @johnmarkwayve alluded to, an Ardent node running on one machine will not be able to communicate with a Bouncy node running on another machine?

[ghost]

@flewber I've not seen anything official to say that this is by design, but in my experience over the last few weeks it appears to be true. Or, at least, a publisher using bouncy will not be received by a subscriber using ardent (I don't think I checked the inverse)

[calvertdw]

It might also depend on the DDS vendor you choose. I have had problems mixing Fast-RTPS with OpenSplice. See eProsima/Fast-DDS#142.

[flewber]

I have only been using the bundled Fast-RTPS on all of my machines. When I upgraded one to Bouncy, the demo_nodes_cpp talker and listener could no longer communicate in either direction from a Bouncy machine to an Ardent machine. Upgrading the Ardent machine to Bouncy now... hopefully that will fix the issue.

[ghost]

@flewber That's similar to my experience with Linux amd64, Linux arm64, and Java on android

[flewber]

Upgrading the Ardent machine to Bouncy DID fix the issue.