Fixes for ros2/rcl PR #882

[norro]

Fixes following API changes in ros2/rcl#882.

Signed-off-by: Nordmann Arne (CR/ADT3) arne.nordmann@de.bosch.com

[norro]

This PR is fixing rclc for rolling. Also, it is building against rcl master now, no longer against the latest rcl package. This should make us react to RCL changes quicker in the future.

The PR is ready to merge, IMHO, but:

• as it is now only building for rolling, we may want to introduce a dashing branch. A foxy branch is already existing, is this one also used to release for dashing?
• it is currently only fixing for the new API, not yet exposing the new feature (optional comm interface in the lifecycle). I would like to expose this feature in rclc_lifecycle as well. However, if you want to merge the fix now, feel free to do so and I will create a separate PR for this feature. @pablogs9, @JanStaschulat

[pablogs9]

Since this breaks the API I have changed all the foxy build system to target RCLC foxy branch: micro-ROS/micro_ros_setup#296

[JanStaschulat]

regarding @norro 's comment:

1. as it is now only building for rolling, we may want to introduce a dashing branch. A foxy branch is already existing, is this one also used to release for dashing?
2. it is currently only fixing for the new API, not yet exposing the new feature (optional comm interface in the lifecycle). I would like to expose this feature in rclc_lifecycle as well. However, if you want to merge the fix now, feel free to do so and I will create a separate PR for this feature. @pablogs9, @JanStaschulat

Hmm,

1. can we live with the foxy branch for the dashing release as well? As EOL of Dashing is May 2021 I would use the Foxy branch for Dashing Release as well.
   This would need a change in the CI-job.
2. did not understand which options we have.

[norro]

@JanStaschulat

1. yes, we can go with the foxy branch for dashing as well. I have no problem with that.
2. I just learned that all other changes only make sense after Provide lifecycle services in the rclc lifecycle nodes #51 has been merged. So this PR is ready to merge now.

[pablogs9]

Ok from my part, merge if you both are ok

[JanStaschulat]

Why does this PR not build for Rolling on the ros2 build farm? @norro could you check this?

[norro]

Why does this PR not build for Rolling on the ros2 build farm? @norro could you check this?

I don't know much about the configuration of the ROS 2 build farm and how this connects to github.
Maybe they configured to only build master and don't automatically build all PRs? No idea.

[JanStaschulat]

Why does this PR not build for Rolling on the ros2 build farm? @norro could you check this?

I don't know much about the configuration of the ROS 2 build farm and how this connects to github.
Maybe they configured to only build master and don't automatically build all PRs? No idea.

there is only one compiler warning, which needs to be fixed:

https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/90/gcc/

/tmp/ws/src/rclc/rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c: In function ‘rcl_lifecycle_node_fini’:
/tmp/ws/src/rclc/rclc_lifecycle/src/rclc_lifecycle/rclc_lifecycle.c:232:21: warning: unused parameter ‘allocator’ [-Wunused-parameter]
  232 |   rcl_allocator_t * allocator

https://build.ros2.org/job/Rpr__rclc__ubuntu_focal_amd64/90/consoleText

[JanStaschulat]

• created a PR to update the source branch for Dashing bloom release: (so that future PR on master branch (for Roling release) will not be built for Dashing any more: Updating source branch of rclc-repo for Dashing ros/rosdistro#28855
• updated branch protection rules for ros2/rclc repo master and foxy branch (specified which checks shall be listed here and which shall be shown as required)