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Merged
emersonknapp merged 1 commit into from
Sep 30, 2025
Merged

[backport kilted] Wrapper Fork: Add action CI and README #4

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38 changes: 38 additions & 0 deletions .github/workflows/build.yml
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---
name: Build and test
"on":
pull_request:
push:
branches:
- kilted-rmw-wrapper

jobs:
build_and_test:
runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
include:
- ros: kilted
ubuntu: noble
name: ROS 2 ${{ matrix.ros }}
container:
image: ghcr.io/ros-tooling/setup-ros-docker/setup-ros-docker-ubuntu-${{ matrix.ubuntu }}:latest
env:
ROS_DISTRO: ${{ matrix.ros }}
RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
RMW_IMPLEMENTATION_WRAPPER: rmw_stats_shim
DISABLE_GROUPS_WORKAROUND: 1
steps:
- uses: actions/checkout@v4
- shell: bash
run: |
apt-get update && apt-get install -y -q --no-install-recommends ros-${{ matrix.ros }}-rmw-cyclonedds-cpp
- uses: ros-tooling/action-ros-ci@v0.4
with:
target-ros2-distro: ${{ matrix.ros }}
package-name: rmw_implementation test_rmw_implementation
- uses: actions/upload-artifact@v4
with:
name: colcon-logs-${{ matrix.ros }}
path: ros_ws/log
37 changes: 37 additions & 0 deletions README.md
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# RMW Implementation Fork for RMW Wrapper

This repository is a fork of https://github.com/ros2/rmw_implementation , maintained to provide an extra feature of a `RMW_IMPLEMENTATION_WRAPPER` shim library that can be loaded in addition to the `RMW_IMPLEMENTATION` (DDS, etc.).

This enables e.g. the https://github.com/ros-tooling/graph-monitor/tree/main/rmw_stats_shim to intercept calls to RMW and provide statistics about every node/subscription/publisher in the system.


## Development

1. All live rosdistros are supported
1. Branches are called `${ROS_DISTRO}-rmw-wrapper`
2. As few modifications are added here as possible
3. All changes here are backported to all live distros
4. Upstream branches are periodically merged in


### Updating to latest from upstream

Get sources set up

```bash
git clone https://github.com/robograph-project/rmw_implementation
cd rmw_implementation
git remote add ros2 https://github.com/ros2/rmw_implementation
```

Merge in latest and open PR

```bash
git checkout ${ROS_DISTRO}-rmw-wrapper
git checkout -b ${ROS_DISTRO}-merge-latest
git fetch ros2
git merge ros2/${ROS_DISTRO}
# push that branch and open PR
```

Perform for every distro.