Add Ubuntu Noble - Zenoh github action

.github/ci/after_make.sh

@@ -1,2 +1,2 @@
 # It's necessary to install the python modules for the test.
-make install
+make install

.github/ci/before_cmake.sh

@@ -1,2 +1,4 @@
-# Set ROS_DISTRO. This is needed for finding zenoh packages vendored by ROS 2
+# Instead of sourcing ros setup script, set only required env variables.
+# This is needed for finding zenoh packages vendored by ROS 2.
 export ROS_DISTRO="jazzy"
+export LD_LIBRARY_PATH="/opt/ros/${ROS_DISTRO}/opt/zenoh_cpp_vendor/lib:$LD_LIBRARY_PATH"

.github/workflows/ci.yml

@@ -23,3 +23,14 @@ jobs:
           cppcheck-enabled: true
           cpplint-enabled: true
           doxygen-enabled: true
+  noble-ci-zenoh:
+    runs-on: ubuntu-latest
+    name: Ubuntu Noble CI - Zenoh
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Compile and test
+        id: ci
+        uses: gazebo-tooling/action-gz-ci@noble
+        with:
+          cmake-args: '-DGZ_TRANSPORT_DEFAULT_IMPLEMENTATION=zenoh'

CMakeLists.txt

@@ -72,6 +72,7 @@ gz_find_package(GzProtobuf
 #--------------------------------------
 # Find ZeroMQ
 gz_find_package(ZeroMQ VERSION 4 REQUIRED PRIVATE)
+list(APPEND GZ_TRANSPORT_IMPLEMENTATION_LIST "zeromq")
 
 if (UNIX AND NOT APPLE)
   execute_process(COMMAND lsb_release -cs
@@ -97,8 +98,8 @@ gz_find_package(CPPZMQ REQUIRED PRIVATE
 
 ########################################
 # Find Zenoh
-gz_find_package(zenohc PRIVATE)
-gz_find_package(zenohcxx PRIVATE)
+gz_find_package(zenohc PRIVATE QUIET)
+gz_find_package(zenohcxx PRIVATE QUIET)
 
 # If both zenohc and zenohcpp packages are not found then
 # look for these pacakages installed by ROS 2 zenoh_cpp_vendor package
@@ -108,8 +109,8 @@ if (NOT zenohc_FOUND AND NOT zenohcxx_FOUND)
   set(ros2_zenoh_cmake_path "/opt/ros/$ENV{ROS_DISTRO}/opt/zenoh_cpp_vendor/lib/cmake")
   if (EXISTS ${ros2_zenoh_cmake_path})
     list(PREPEND CMAKE_PREFIX_PATH ${ros2_zenoh_cmake_path})
-    find_package(zenohc QUIET)
-    find_package(zenohcxx QUIET)
+    gz_find_package(zenohc PRIVATE QUIET)
+    gz_find_package(zenohcxx PRIVATE QUIET)
   endif()
 endif ()
 
@@ -123,6 +124,7 @@ else ()
   message (STATUS "Looking for zenohcxx and zenohc - found")
   set (HAVE_ZENOH ON CACHE BOOL "HAVE ZENOH" FORCE)
   list(APPEND EXTRA_TEST_LIB_DEPS "zenohcxx::zenohc")
+  list(APPEND GZ_TRANSPORT_IMPLEMENTATION_LIST "zenoh")
 endif ()
 
 #--------------------------------------
@@ -168,6 +170,13 @@ gz_find_package(SQLite3
   PRIVATE_FOR log
   PRETTY sqlite3)
 
+#--------------------------------------
+# Check GZ_TRANSPORT_DEFAULT_IMPLEMENTATION value
+set(GZ_TRANSPORT_DEFAULT_IMPLEMENTATION "zeromq" CACHE
+    STRING "Set default gz-transport implementation")
+if (NOT ${GZ_TRANSPORT_DEFAULT_IMPLEMENTATION} IN_LIST GZ_TRANSPORT_IMPLEMENTATION_LIST)
+  message(FATAL_ERROR "Invalid GZ_TRANSPORT_DEFAULT_IMPLEMENTATION value: ${GZ_TRANSPORT_DEFAULT_IMPLEMENTATION}")
+endif()
 
 #============================================================================
 # Configure the build

include/gz/transport/Helpers.hh

@@ -72,6 +72,10 @@ namespace gz
     /// \returns id of current process
     unsigned int GZ_TRANSPORT_VISIBLE getProcessId();
 
+    /// \brief Get the name of the underlying transport implementation
+    /// \returns Name of the transport implementation, e.g. "zeromq", "zenoh"
+    std::string GZ_TRANSPORT_VISIBLE getTransportImplementation();
+
     // Use safer functions on Windows
     #ifdef _MSC_VER
       #define gz_strcat strcat_s

include/gz/transport/config.hh.in

@@ -35,5 +35,6 @@
 #cmakedefine HAVE_IFADDRS 1
 #cmakedefine UBUNTU_FOCAL 1
 #cmakedefine HAVE_ZENOH 1
+#cmakedefine GZ_TRANSPORT_DEFAULT_IMPLEMENTATION "${GZ_TRANSPORT_DEFAULT_IMPLEMENTATION}"
 
 #endif

log/src/LogCommandAPI_TEST.cc

@@ -18,6 +18,8 @@
 #include "cmd/LogCommandAPI.hh"
 #include "gtest/gtest.h"
 
+#include "test_utils.hh"
+
 //////////////////////////////////////////////////
 TEST(LogCommandAPI, Version)
 {
@@ -55,6 +57,7 @@ TEST(LogCommandAPI, PlaybackBadRemap)
 //////////////////////////////////////////////////
 TEST(LogCommandAPI, RecordFailedToOpen)
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
   EXPECT_EQ(FAILED_TO_OPEN, recordTopics("!@#$%^&*(:;[{]})?/.'|", ".*"));
 }
 

log/src/Recorder_TEST.cc

@@ -21,6 +21,8 @@
 #include "gz/transport/log/Recorder.hh"
 #include "gtest/gtest.h"
 
+#include "test_utils.hh"
+
 using namespace gz;
 
 //////////////////////////////////////////////////
@@ -85,6 +87,8 @@ TEST(Record, AddInvalidTopic)
 //////////////////////////////////////////////////
 TEST(Record, AddTopicRegex)
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   transport::log::Recorder recorder;
   EXPECT_EQ(0, recorder.AddTopic(std::regex("////")));
 }

log/src/cmd/LogCommandAPI.cc

@@ -25,6 +25,7 @@
 #include <gz/transport/log/Export.hh>
 #include <gz/transport/log/Playback.hh>
 #include <gz/transport/log/Recorder.hh>
+#include <gz/transport/Helpers.hh>
 #include <gz/transport/Node.hh>
 #include <gz/transport/NodeOptions.hh>
 #include "../Console.hh"
@@ -60,8 +61,16 @@ int recordTopics(const char *_file, const char *_pattern)
 
   transport::log::Recorder recorder;
 
-  if (recorder.AddTopic(regexPattern) < 0)
-    return FAILED_TO_SUBSCRIBE;
+  // Recorder functionality is not working in zenoh implementation yet
+  // Continue executing the rest of this function for the gz_log_record_* ruby
+  // test.
+  // \todo(iche033) Remove this check once supported.
+  if (gz::transport::getTransportImplementation() != "zenoh")
+  {
+    LWRN("Recording is not supported in zenoh\n");
+    if (recorder.AddTopic(regexPattern) < 0)
+      return FAILED_TO_SUBSCRIBE;
+  }
 
   if (recorder.Start(_file) != transport::log::RecorderError::SUCCESS)
     return FAILED_TO_OPEN;

log/test/integration/playback.cc

@@ -102,6 +102,8 @@ bool ExpectSameMessages(
 /// the original.
 TEST(playback, GZ_UTILS_TEST_DISABLED_ON_MAC(ReplayLog))
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   std::vector<std::string> topics = {"/foo", "/bar", "/baz"};
 
   std::vector<MessageInformation> incomingData;
@@ -202,6 +204,8 @@ TEST(playback, GZ_UTILS_TEST_DISABLED_ON_MAC(ReplayNoSuchTopic))
 /// the original.
 TEST(playback, GZ_UTILS_TEST_DISABLED_ON_MAC(ReplayLogRegex))
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   std::vector<std::string> topics = {"/foo", "/bar", "/baz"};
 
   std::vector<MessageInformation> incomingData;
@@ -269,6 +273,8 @@ TEST(playback, GZ_UTILS_TEST_DISABLED_ON_MAC(ReplayLogRegex))
 /// that the playback matches the original.
 TEST(playback, GZ_UTILS_TEST_DISABLED_ON_MAC(RemoveTopic))
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   std::vector<std::string> topics = {"/foo", "/bar", "/baz"};
 
   std::vector<MessageInformation> incomingData;
@@ -378,6 +384,8 @@ TEST(playback, GZ_UTILS_TEST_DISABLED_ON_MAC(RemoveTopic))
 /// the original.
 TEST(playback, GZ_UTILS_TEST_DISABLED_ON_MAC(ReplayLogMoveInstances))
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   std::vector<std::string> topics = {"/foo", "/bar", "/baz"};
 
   std::vector<MessageInformation> incomingData;
@@ -448,6 +456,8 @@ TEST(playback, GZ_UTILS_TEST_DISABLED_ON_MAC(ReplayLogMoveInstances))
 /// methods to control the playback flow.
 TEST(playback, GZ_UTILS_TEST_DISABLED_ON_MAC(ReplayPauseResume))
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   std::vector<std::string> topics = {"/foo", "/bar", "/baz"};
 
   std::vector<MessageInformation> incomingData;
@@ -570,6 +580,8 @@ TEST(playback, GZ_UTILS_TEST_DISABLED_ON_MAC(ReplayPauseResume))
 /// the playback workflow.
 TEST(playback, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(ReplayStep))
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   std::vector<std::string> topics = {"/foo", "/bar", "/baz"};
 
   std::vector<MessageInformation> incomingData;
@@ -686,6 +698,8 @@ TEST(playback, GZ_UTILS_TEST_ENABLED_ONLY_ON_LINUX(ReplayStep))
 /// the playback workflow.
 TEST(playback, GZ_UTILS_TEST_DISABLED_ON_MAC(ReplaySeek))
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   std::vector<std::string> topics = {"/foo", "/bar", "/baz"};
 
   std::vector<MessageInformation> incomingData;

log/test/integration/recorder.cc

@@ -76,6 +76,8 @@ void VerifyMessage(const gz::transport::log::Message &_msg,
 TEST(recorder,
   GZ_UTILS_TEST_DISABLED_ON_MAC(BeginRecordingTopicsBeforeAdvertisement))
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   // Remember to include a leading slash so that the VerifyTopic lambda below
   // will work correctly. gz-transport automatically adds a leading slash to
   // topics that don't specify one.
@@ -146,6 +148,8 @@ TEST(recorder,
 /// so we only test to see that we received the very last message.
 TEST(recorder, BeginRecordingTopicsAfterAdvertisement)
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   std::vector<std::string> topics = {"/foo", "/bar"};
 
   const std::string logName =
@@ -272,12 +276,16 @@ void RecordPatternBeforeAdvertisement(const std::regex &_pattern)
 //////////////////////////////////////////////////
 TEST(recorder, BeginRecordingPatternBeforeAdvertisement)
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   RecordPatternBeforeAdvertisement(std::regex(".*foo.*"));
 }
 
 //////////////////////////////////////////////////
 TEST(recorder, BeginRecordingAllBeforeAdvertisement)
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   RecordPatternBeforeAdvertisement(std::regex(".*"));
 }
 
@@ -287,6 +295,8 @@ TEST(recorder, BeginRecordingAllBeforeAdvertisement)
 /// data queue.
 TEST(recorder, DataWriterQueue)
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   // Remember to include a leading slash so that the VerifyTopic lambda below
   // will work correctly. gz-transport automatically adds a leading slash to
   // topics that don't specify one.
@@ -376,6 +386,8 @@ TEST(recorder, DataWriterQueue)
 /// Test that clock is properly recorded
 TEST(recorder, DataWriterQueueClockUpdates)
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   // Remember to include a leading slash so that the VerifyTopic lambda below
   // will work correctly. gz-transport automatically adds a leading slash to
   // topics that don't specify one.
@@ -517,13 +529,17 @@ void TestBufferSizeSettings(const std::optional<std::size_t> &_bufferSize,
 /// Test default buffer size setting
 TEST(recorder, DataWriterQueueDefaultBufferSize)
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   TestBufferSizeSettings(std::nullopt, 50);
 }
 
 //////////////////////////////////////////////////
 /// Test infinite buffer size setting
 TEST(recorder, DataWriterQueueInfiniteBufferSize)
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   TestBufferSizeSettings(0, 50);
 }
 
@@ -532,6 +548,8 @@ TEST(recorder, DataWriterQueueInfiniteBufferSize)
 /// still get recorded
 TEST(recorder, DataWriterQueueLargeMessages)
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
+
   TestBufferSizeSettings(1, 1);
 }
 

parameters/src/CMakeLists.txt

@@ -19,7 +19,7 @@ endif()
 gz_build_tests(
   TYPE "UNIT"
   SOURCES ${gtest_sources}
-  LIB_DEPS ${param_lib_target} ${EXTRA_TEST_LIB_DEPS}
+  LIB_DEPS ${param_lib_target} ${EXTRA_TEST_LIB_DEPS} test_config
 )
 
 if(NOT WIN32)

parameters/src/cmd/ParamCommandAPI_TEST.cc

@@ -26,6 +26,8 @@
 
 #include "gtest/gtest.h"
 
+#include "test_utils.hh"
+
 using namespace gz;
 using namespace transport;
 using namespace transport::parameters;
@@ -137,6 +139,7 @@ TEST_F(ParametersClientTest, cmdParameterGet)
 //////////////////////////////////////////////////
 TEST_F(ParametersClientTest, SetParameter)
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
   {
     CaptureCoutScoped coutCapture;
     CaptureCerrScoped cerrCapture;
@@ -187,6 +190,7 @@ TEST_F(ParametersClientTest, SetParameter)
 //////////////////////////////////////////////////
 TEST_F(ParametersClientTest, ListParameters)
 {
+  CHECK_UNSUPPORTED_IMPLEMENTATION("zenoh")
   {
     CaptureCoutScoped coutCapture;
     CaptureCerrScoped cerrCapture;

python/src/transport/_gz_transport_pybind11.cc

@@ -18,6 +18,7 @@
 
 #include <google/protobuf/message.h>
 #include <gz/transport/Node.hh>
+#include <gz/transport/Helpers.hh>
 
 #include <pybind11/functional.h>
 #include <pybind11/pybind11.h>
@@ -68,7 +69,7 @@ PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
           &AdvertiseMessageOptions::MsgsPerSec,
           &AdvertiseMessageOptions::SetMsgsPerSec,
           "The maximum number of messages per second to be published")
-      .def("__copy__", 
+      .def("__copy__",
           [](const AdvertiseMessageOptions &self)
           {
             return AdvertiseMessageOptions(self);
@@ -110,9 +111,9 @@ PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
           },
           py::arg("from_topic"),
           "Get a topic remapping. Returns a pair with the result of the method"
-          "and the remapped name of the topic. The topic name remains empty if" 
+          "and the remapped name of the topic. The topic name remains empty if"
           "there isn't any remap for the topic")
-      .def("__copy__", 
+      .def("__copy__",
           [](const NodeOptions &self)
           {
             return NodeOptions(self);
@@ -135,7 +136,7 @@ PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
           &SubscribeOptions::MsgsPerSec,
           &SubscribeOptions::SetMsgsPerSec,
           "Set the maximum number of messages per second received per topic")
-      .def("__copy__", 
+      .def("__copy__",
           [](const SubscribeOptions &self)
           {
             return SubscribeOptions(self);
@@ -304,7 +305,7 @@ PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
           "Get the current statistics for a topic. Statistics must"
           "have been enabled using the EnableStats function, otherwise"
           "the return value will be null.");
-      
+
   // Register Node::Publisher as a subclass of Node
   py::class_<gz::transport::Node::Publisher>(node, "Publisher",
       "A class that is used to store information about an"
@@ -323,6 +324,10 @@ PYBIND11_MODULE(BINDINGS_MODULE_NAME, m) {
       .def("has_connections",
           &gz::transport::Node::Publisher::HasConnections,
           "Return true if this publisher has subscribers");
+
+  m.def("transport_implementation", &getTransportImplementation,
+      "Get the name of the underlying transport implementation.");
+
 }  // gz-transport module
 
 }  // python