Fix a bug on invalid pointer address when using "MESSAGE" compressio…

[Barry-Xu-2018]

Address #856

[Barry-Xu-2018]

This modification affects the performance for a case No message compression and cache size is set to 0.
For this case, the message need not be duplicated.
If not change class Writer, I have no simple way to get the information of cache size in Writer::write.
So do duplication for all cases.

[Barry-Xu-2018]

I made new PR #867 to add new interface to help judgement whether message need to be duplicated.

[emersonknapp]

This looks good - but is there any way to add a unit test for this case?

[Barry-Xu-2018]

@emersonknapp

I submit a new commit (45c9a78)
In this commit, I mark the old interface as deprecated and add a new write interface instead of that.
I think we should not make a lot of change for fixing the problem from deprecated interface.

[Barry-Xu-2018]

After checking, the cause of failure is relevant to set -Werror=deprecated-declarations.
In code, I marked the old interface as deprecated.

[Barry-Xu-2018]

Do rebase

[emersonknapp]

Gist: https://gist.githubusercontent.com/emersonknapp/61f3493495d5b27fb31cdd53f4d29334/raw/e057b1e91a54bdfd8b8b165e3d5fad7a61652ea0/ros2.repos
BUILD args: --packages-up-to rosbag2_cpp rosbag2_transport rosbag2 rosbag2_tests
TEST args: --packages-select rosbag2_cpp rosbag2_transport rosbag2 rosbag2_tests
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/9174

• Linux
• Linux-aarch64
• macOS
• Windows

[emersonknapp]

Line 199 in this file is causing the Windows warning - since the "non-serialized ROS message" template function calls this "reference version".

I think that the solution is to create a shared_ptr to the SerializedBagMessage, instead of a local instance.

Something like:

  template<class MessageT>
  void write(
    const MessageT & message,
    const std::string & topic_name,
    const rclcpp::Time & time)
  {
    auto serialized_msg = std::make_shared<rclcpp::SerializedMessage>();
    rclcpp::Serialization<MessageT> serialization;
    serialization.serialize_message(&message, serialized_msg.get());
    return write(serialized_msg, topic_name, rosidl_generator_traits::name<MessageT>(), time);

[Barry-Xu-2018]

After checking failure for Rpr__rosbag2__ubuntu_focal_amd64, failed cases are

projectroot.test_play_timing__rmw_cyclonedds_cpp
rosbag2_transport.PlayerTestFixture.playing_respects_delay

The failure cause isn't related to this PR.
In my local environment, I cannot reproduce this problem.

[emersonknapp]

Gist: https://gist.githubusercontent.com/emersonknapp/01dc4976a14df75a802c9e347d0309f8/raw/e057b1e91a54bdfd8b8b165e3d5fad7a61652ea0/ros2.repos
BUILD args: --packages-up-to rosbag2_cpp rosbag2_transport rosbag2 rosbag2_tests
TEST args: --packages-select rosbag2_cpp rosbag2_transport rosbag2 rosbag2_tests
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/9190

• Linux
• Linux-aarch64
• macOS
• Windows