Fix rmw_take_serialized. (backport #881)#885
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* Fix rmw_take_serialized. rmw_take and rmw_take_with_info already check info->is_buffer_aware_ to do special handling of buffer aware data. However, the serialized versions (rmw_take_serialized_message and rmw_take_serialized_message_with_info) don't do that check. That means that there is no data delivered in the serialized path. The fix is to add in a new helper for both functions which looks for is_buffer_aware_ first. If it is buffer aware, it copies the data out, and if not, it continues on to the normal __rmw_take_serialized_message path. Signed-off-by: Chris Lalancette <clalancette@gmail.com> * Feedback from review. Signed-off-by: Chris Lalancette <clalancette@gmail.com> --------- Signed-off-by: Chris Lalancette <clalancette@gmail.com> (cherry picked from commit fa15754)
MiguelCompany
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May 6, 2026
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I changed the base and I'm going to merge this into #884 so I can test the lot together. |
clalancette
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May 9, 2026
* Change the buffer-aware BUFBE: -> bufbe. (#880) The buffer-aware work appends a BUFBE: sentinel to the publisher's user_data QoS field. But parse_key_value does not support colons in keys, so all type hashes for buffers using this would be INVALID. Fix this by dropping the colon from the sentinel, which makes it pass parse_key_value and keep type hashes working. Also add in a regression test here. Signed-off-by: Chris Lalancette <clalancette@gmail.com> (cherry picked from commit 35a62b8) * Fix rmw_take_serialized. (#881) (#885) * Fix rmw_take_serialized. rmw_take and rmw_take_with_info already check info->is_buffer_aware_ to do special handling of buffer aware data. However, the serialized versions (rmw_take_serialized_message and rmw_take_serialized_message_with_info) don't do that check. That means that there is no data delivered in the serialized path. The fix is to add in a new helper for both functions which looks for is_buffer_aware_ first. If it is buffer aware, it copies the data out, and if not, it continues on to the normal __rmw_take_serialized_message path. * Feedback from review. --------- (cherry picked from commit fa15754) Signed-off-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> --------- Signed-off-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: Chris Lalancette <clalancette@gmail.com> Co-authored-by: mergify[bot] <37929162+mergify[bot]@users.noreply.github.com>
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Description
rmw_take and rmw_take_with_info already check info->is_buffer_aware_ to do special handling of buffer aware data. However, the serialized versions (rmw_take_serialized_message and
rmw_take_serialized_message_with_info) don't do that check. That means that there is no data delivered in the serialized path.
The fix is to add in a new helper for both functions which looks for is_buffer_aware_ first. If it is buffer aware, it copies the data out, and if not, it continues on to the normal __rmw_take_serialized_message path.
This should be merged at approximately the same time as ros2/system_tests#592 , #880 , and #879
Is this user-facing behavior change?
No.
Did you use Generative AI?
Yes, Claude Opus 4.7
Additional Information
This should be backported to Lyrical.
This is an automatic backport of pull request #881 done by Mergify.