Add support for rmw_connextdds (ros2#1574)

* Replace stale reference to Connext

* Restore exceptions for ros2/rmw_connext to ease transition to rticommunity/rmw_connextdds

Signed-off-by: Andrea Sorbini <[email protected]>
Co-authored-by: Chris Lalancette <[email protected]>

Author: asorbini

rclcpp/test/rclcpp/strategies/test_allocator_memory_strategy.cpp

@@ -511,10 +511,11 @@ TEST_F(TestAllocatorMemoryStrategy, number_of_entities_with_subscription) {
   RclWaitSetSizes expected_sizes = {};
   expected_sizes.size_of_subscriptions = 1;
   const std::string implementation_identifier = rmw_get_implementation_identifier();
+  // TODO(asorbini): Remove Connext exception once ros2/rmw_connext is deprecated.
   if (implementation_identifier == "rmw_connext_cpp" ||
     implementation_identifier == "rmw_cyclonedds_cpp")
   {
-    // For connext, a subscription will also add an event and waitable
+    // For cyclonedds, a subscription will also add an event and waitable
     expected_sizes.size_of_events += 1;
     expected_sizes.size_of_waitables += 1;
   }

rclcpp/test/rclcpp/test_add_callback_groups_to_executor.cpp

@@ -30,10 +30,6 @@
 #include "rclcpp/executor.hpp"
 #include "rclcpp/rclcpp.hpp"
 
-// Note: This is a long running test with rmw_connext_cpp, if you change this file, please check
-// that this test can complete fully, or adjust the timeout as necessary.
-// See https://github.com/ros2/rmw_connext/issues/325 for resolution]
-
 using namespace std::chrono_literals;
 
 template<typename T>

rclcpp/test/rclcpp/test_publisher.cpp

@@ -29,10 +29,6 @@
 
 #include "test_msgs/msg/empty.hpp"
 
-// Note: This is a long running test with rmw_connext_cpp, if you change this file, please check
-// that this test can complete fully, or adjust the timeout as necessary.
-// See https://github.com/ros2/rmw_connext/issues/325 for resolution
-
 class TestPublisher : public ::testing::Test
 {
 public:

rclcpp/test/rclcpp/test_subscription.cpp

@@ -29,10 +29,6 @@
 
 #include "test_msgs/msg/empty.hpp"
 
-// Note: This is a long running test with rmw_connext_cpp, if you change this file, please check
-// that this test can complete fully, or adjust the timeout as necessary.
-// See https://github.com/ros2/rmw_connext/issues/325 for resolution
-
 using namespace std::chrono_literals;
 
 class TestSubscription : public ::testing::Test

rclcpp_action/test/test_server.cpp

@@ -29,10 +29,6 @@
 #include "rclcpp_action/server.hpp"
 #include "./mocking_utils/patch.hpp"
 
-// Note: This is a long running test with rmw_connext_cpp, if you change this file, please check
-// that this test can complete fully, or adjust the timeout as necessary.
-// See https://github.com/ros2/rmw_connext/issues/325 for resolution
-
 using Fibonacci = test_msgs::action::Fibonacci;
 using CancelResponse = typename Fibonacci::Impl::CancelGoalService::Response;
 using GoalUUID = rclcpp_action::GoalUUID;

rclcpp_lifecycle/test/test_lifecycle_node.cpp

@@ -31,10 +31,6 @@
 
 #include "./mocking_utils/patch.hpp"
 
-// Note: This is a long running test with rmw_connext_cpp, if you change this file, please check
-// that this test can complete fully, or adjust the timeout as necessary.
-// See https://github.com/ros2/rmw_connext/issues/325 for resolution
-
 using lifecycle_msgs::msg::State;
 using lifecycle_msgs::msg::Transition;
 

rclcpp_lifecycle/test/test_lifecycle_service_client.cpp

@@ -52,10 +52,6 @@ constexpr char const * node_get_transition_graph_topic =
   "/lc_talker/get_transition_graph";
 const lifecycle_msgs::msg::State unknown_state = lifecycle_msgs::msg::State();
 
-// Note: This is a long running test with rmw_connext_cpp, if you change this file, please check
-// that this test can complete fully, or adjust the timeout as necessary.
-// See https://github.com/ros2/rmw_connext/issues/325 for resolution
-
 class EmptyLifecycleNode : public rclcpp_lifecycle::LifecycleNode
 {
 public: