Merge branch 'main' into feat/create_timer

Author: Koichi98

.cppcheck_suppressions

@@ -1,6 +1,7 @@
 *:*/test/*
 
 uninitvar:*/agnocast_kmod/*
+nullPointer:*/agnocast_kmod/*
 unusedStructMember:*/agnocast_kmod/*
 
 checkersReport

.github/pull_request_template.md

@@ -5,8 +5,8 @@
 ## How was this PR tested?
 
 - [ ] Autoware (required)
-- [ ] `bash scripts/e2e_test_1to1` (required)
-- [ ] `bash scripts/e2e_test_2to2` (required)
+- [ ] `bash scripts/test/e2e_test_1to1` (required)
+- [ ] `bash scripts/test/e2e_test_2to2` (required)
 - [ ] kunit tests (required when modifying the kernel module)
 - [ ] sample application
 

.github/workflows/build-and-test-agnocastlib-heaphook.yaml

@@ -49,7 +49,7 @@ jobs:
         echo "$CHANGED_FILES" >> "$GITHUB_OUTPUT"
         echo "EOF" >> "$GITHUB_OUTPUT"
 
-        if echo "$CHANGED_FILES" | grep -qE '(agnocastlib|agnocast_ioctl_wrapper|cie_thread_configurator)/.*\.(cpp|hpp)$'; then
+        if echo "$CHANGED_FILES" | grep -qE '(agnocastlib|agnocast_ioctl_wrapper|agnocast_cie_thread_configurator)/.*\.(cpp|hpp)$'; then
           echo "cpp_changed=true" >> "$GITHUB_OUTPUT"
         else
           echo "cpp_changed=false" >> "$GITHUB_OUTPUT"
@@ -89,7 +89,7 @@ jobs:
         sudo apt-get install -y --no-install-recommends python3-rosdep
         sudo rosdep init
         rosdep update
-        rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+        rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO --skip-keys glog
 
     - name: Cache ccache
       if: github.event_name == 'push' || (steps.check_diff.outputs.cpp_changed == 'true' || steps.check_diff.outputs.heaphook_changed == 'true')

.gitignore

@@ -16,3 +16,4 @@ __pycache__
 *.changes
 *.build
 *.upload
+*.o.d

.pre-commit-config.yaml

@@ -16,6 +16,6 @@ repos:
     hooks:
       - id: kunit
         name: Run KUnit tests
-        entry: scripts/run_kunit
+        entry: scripts/test/run_kunit
         language: system
         types: [c]

CONTRIBUTING.md

@@ -68,8 +68,8 @@ Examples:
 Before submitting a PR, please ensure the following tests pass:
 
 - [ ] Autoware (required)
-- [ ] `bash scripts/e2e_test_1to1` (required)
-- [ ] `bash scripts/e2e_test_2to2` (required)
+- [ ] `bash scripts/test/e2e_test_1to1` (required)
+- [ ] `bash scripts/test/e2e_test_2to2` (required)
 - [ ] kunit tests (required when modifying the kernel module)
 
 ## Questions?

README.md

@@ -40,11 +40,11 @@ This reflects the current status, and support is expected to expand in the futur
 
 | Category           | Supported Versions / Notes                                   |
 |--------------------|--------------------------------------------------------------|
-| ROS 2              | Humble (only with `rclcpp` client library)                   |
-| Linux Distribution | Ubuntu 22.04 (Jammy Jellyfish)                               |
+| ROS 2              | Humble / Jazzy (only with `rclcpp` client library)           |
+| Linux Distribution | Ubuntu 22.04 (Jammy) / Ubuntu 24.04 (Noble)                 |
 | Linux Kernel       | 5.x / 6.x series (detailed version matrix not yet available) |
 
-ROS 2 Jazzy (Ubuntu 24.04) is now supported in the main branch and will be included in the v2.2.0 release.
+> **Warning**: Agnocast service/client is not officially supported yet and the API may change in the future. Use at your own risk.
 
 ---
 
@@ -56,19 +56,22 @@ Since ROS packages under `src/` such as `agnocastlib` are not yet distributed fr
 Therefore, to perform the source build, first check out the specific version as follows:
 
 ```bash
-git clone --branch 2.1.2 https://github.com/tier4/agnocast.git
+git clone --branch 2.2.0 https://github.com/tier4/agnocast.git
 cd agnocast
 ```
 
 ### System Configuration
 
+Agnocast uses POSIX message queues for inter-process notification. The following system parameters may need adjustment.
+
+#### `msg_max`: Maximum number of messages per queue (Required)
+
 Agnocast requires increasing the system limit for the maximum number of messages in a queue.
 
 **Temporary setting (Current session only):**
 
 ```bash
 sudo sysctl -w fs.mqueue.msg_max=256
-
 ```
 
 **Permanent setting:**
@@ -78,6 +81,55 @@ echo "fs.mqueue.msg_max=256" | sudo tee -a /etc/sysctl.conf
 sudo sysctl -p
 ```
 
+#### `queues_max`: Maximum number of message queues system-wide (Optional)
+
+Agnocast creates a message queue for each subscriber, so the total number of message queues grows with the number of topics and subscribers. The system default for `queues_max` is typically 256, which may not be sufficient for large-scale deployments.
+
+You can check the current limit with:
+
+```bash
+cat /proc/sys/fs/mqueue/queues_max
+```
+
+If you encounter `mq_open failed: No space left on device`, you may need to increase this limit.
+
+**Temporary setting (Current session only):**
+
+```bash
+sudo sysctl -w fs.mqueue.queues_max=1024
+```
+
+**Permanent setting:**
+
+```bash
+echo "fs.mqueue.queues_max=1024" | sudo tee -a /etc/sysctl.conf
+sudo sysctl -p
+```
+
+#### `msgqueue`: Per-user POSIX message queue memory limit (Optional)
+
+Each bridge manager message queue consumes memory proportional to the maximum message size and queue depth.
+When running many Agnocast processes simultaneously, the per-user POSIX message queue memory limit
+(`RLIMIT_MSGQUEUE`) may be exceeded, causing `mq_open` to fail.
+
+To increase the limit, either add the following line to `/etc/security/limits.conf`:
+
+```text
+* - msgqueue unlimited
+```
+
+Or use `prlimit` to change the limit for the current shell:
+
+```bash
+sudo prlimit --pid=$$ --msgqueue=unlimited
+```
+
+You can verify the current limit with:
+
+```bash
+ulimit -q
+```
+
 ### Setup
 
 Run the setup script to install dependencies:
@@ -104,14 +156,14 @@ sudo chmod 0644 /etc/apt/keyrings/agnocast-ppa.gpg
 cat <<EOF | sudo tee /etc/apt/sources.list.d/agnocast.sources
 Types: deb
 URIs: http://ppa.launchpad.net/t4-system-software/agnocast/ubuntu
-Suites: jammy
+Suites: jammy noble
 Components: main
 Signed-By: /etc/apt/keyrings/agnocast-ppa.gpg
 EOF
 
 # Install packages
 sudo apt update
-sudo apt install agnocast-heaphook-v2.1.2 agnocast-kmod-v2.1.2
+sudo apt install agnocast-heaphook-v2.2.0 agnocast-kmod-v2.2.0
 ```
 
 </details>
@@ -132,12 +184,21 @@ Insert kernel module.
 sudo modprobe agnocast
 ```
 
+You can optionally specify the mempool size per process (default: 8GB).
+Note that this parameter is experimental and may be removed or changed in future versions:
+
+```bash
+sudo modprobe agnocast mempool_size_gb=16
+```
+
+See [shared_memory.md](docs/shared_memory.md) for details on mempool configuration.
+
 Run sample app (different window for each script).
 The order does not matter.
 
 ```bash
-bash scripts/run_listener
-bash scripts/run_talker
+bash scripts/sample_application/run_listener
+bash scripts/sample_application/run_talker
 ```
 
 Stop applications and unload kernel module.
@@ -268,7 +329,7 @@ sudo lsmod
 You can build, test and generate the coverage report by following:
 
 ```bash
-bash scripts/test_and_create_report
+bash scripts/test/test_and_create_report
 ```
 
 ### Kernel Module Test
@@ -281,7 +342,7 @@ A custom kernel with the following CONFIG enabled is required to run KUnit Test
 If booting with the custom kernel, the following script can be used to run unit tests on kernel modules and generate coverage reports.
 
 ```bash
-bash scripts/run_kunit
+bash scripts/test/run_kunit
 ```
 
 You can also use [pre-commit](#setup-pre-commit)
@@ -341,14 +402,16 @@ Although Agnocast includes cleanup procedures for resources like shared memory a
 rm /dev/shm/agnocast@*
 ```
 
-Additionally, if you encounter the error `mq_open failed: No space left on device`, it means that the system has reached the maximum number of message queues. In that case, you may need to remove leftover message queues by running:
+Additionally, if you encounter the error `mq_open failed: No space left on device`, it means that the system has reached the maximum number of message queues. In that case, first try removing leftover message queues by running:
 
 ```bash
 rm /dev/mqueue/agnocast@*
 rm /dev/mqueue/agnocast_bridge_manager_parent@*
 rm /dev/mqueue/agnocast_bridge_manager_daemon@*
 ```
 
+If the error persists after cleanup, you may need to increase the system-wide limit on the number of message queues. See the [System Configuration](#system-configuration) section above for how to increase `queues_max`.
+
 ## Documents
 
 - [shared memory](./docs/shared_memory.md)

agnocast_heaphook/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "agnocast_heaphook"
-version = "2.1.2"
+version = "2.2.0"
 edition = "2021"
 license = "Apache-2.0"
 authors = [

agnocast_heaphook/debian/changelog

@@ -1,3 +1,26 @@
+agnocast-heaphook-v2.2.0 (2.2.0-6) noble; urgency=medium
+
+  * fix(test): fix test failures in cie and heaphook test (#887 <https://github.com/tier4/agnocast/issues/887>)
+  * feat(heaphook)[need-minor-update] :add init_child_allocator  (#798 <https://github.com/tier4/agnocast/issues/798>)
+  * test(heaphook) Refactor heaphook test (#743 <https://github.com/tier4/agnocast/issues/743>)
+  * test(heaphook) Split test_memory_limit into separate tests for each functions (#742 <https://github.com/tier4/agnocast/issues/742>)
+  * fix(heaphook): typo (#737 <https://github.com/tier4/agnocast/issues/737>)
+  * fix(heaphook): distribution architecture from all to any (#735 <https://github.com/tier4/agnocast/issues/735>)
+  * fix(kmod) [needs minor version update]: Remove AGNOCAST_MEMPOOL_SIZE (#719 <https://github.com/tier4/agnocast/issues/719>)
+  * test(heaphook) Add unit tests for zero-sized allocation (#733 <https://github.com/tier4/agnocast/issues/733>)
+  * test(heaphook) Add a unit test to check realloc behaves like malloc when called with a null pointer (#734 <https://github.com/tier4/agnocast/issues/734>)
+  * test(heaphook): Add unit tests for the fundamental alignment (#726 <https://github.com/tier4/agnocast/issues/726>)
+  * fix(heaphook) Fix calloc to return a null pointer when the total size does not fit in size_t (#722 <https://github.com/tier4/agnocast/issues/722>)
+  * fix(heaphook) Fix `aligned_alloc` to always return a `MIN_ALIGN`-byte aligned address when the fundamental alignment is requested. (#713 <https://github.com/tier4/agnocast/issues/713>)
+  * fix(heaphook) Fix `realloc` to call `malloc` when the pointer is `NULL` (#705 <https://github.com/tier4/agnocast/issues/705>)
+  * fix(heaphook): Handle unexpected `realloc` by returning null (#700 <https://github.com/tier4/agnocast/issues/700>)
+  * refactor(heaphook) Refactor test code to use `is_shared` function (#699 <https://github.com/tier4/agnocast/issues/699>)
+  * feat(heaphook) Support Custom Memory Allocators (#691 <https://github.com/tier4/agnocast/issues/691>)
+  * feat(heaphook) Define `AgnocastSharedMemoryAllocator` trait to support custom memory allocators (#686 <https://github.com/tier4/agnocast/issues/686>)
+  * fix: error when upgrading heaphook (#685 <https://github.com/tier4/agnocast/issues/685>)
+
+ -- Takahiro Ishikawa-Aso <sykwer@gmail.com>  Thu, 19 Feb 2026 2:18:00 +0900
+
 agnocast-heaphook-v2.1.2 (2.1.2-2) jammy; urgency=medium
 
   * fix(heaphook): fix memory-related functions to match C semantics (#657 <https://github.com/tier4/agnocast/issues/657>)

agnocast_heaphook/debian/control

@@ -1,16 +1,16 @@
-Source: agnocast-heaphook-v2.1.2
+Source: agnocast-heaphook-v2.2.0
 Section: libs
 Priority: optional
 Maintainer: Takahiro Ishikawa-Aso <sykwer@gmail.com>
 Build-Depends: debhelper (>= 13), cargo, rustc, dh-cargo
 Standards-Version: 4.6.1
 Homepage: https://github.com/tier4/agnocast
 
-Package: agnocast-heaphook-v2.1.2
+Package: agnocast-heaphook-v2.2.0
 Architecture: any
 Depends: ${shlibs:Depends}, ${misc:Depends}
 Provides: agnocast-heaphook
-Conflicts: agnocast-heaphook, agnocast-heaphook-v2.1.0, agnocast-heaphook-v2.1.1
-Replaces: agnocast-heaphook-v2.1.0, agnocast-heaphook-v2.1.1
+Conflicts: agnocast-heaphook, agnocast-heaphook-v2.1.0, agnocast-heaphook-v2.1.1, agnocast-heaphook-v2.1.2
+Replaces: agnocast-heaphook-v2.1.0, agnocast-heaphook-v2.1.1, agnocast-heaphook-v2.1.2
 Description: A heap runtime replacement for Agnocast.
  To achieve true zero-copy communication with Agnocast, message objects must be placed in shared memory. Therefore, all heap allocation and deallocation operations are intercepted and customized using LD_PRELOAD hooks.