Pulls: #1611
Gist: https://gist.githubusercontent.com/fujitatomoya/b62c021db5fc27c27f1237b400c0bdf8/raw/162511a11ee0837106e7d9bfe72aac7259ae584f/ros2.repos
BUILD args: --packages-up-to rclpy
TEST args: --packages-select rclpy
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18208

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

@Barry-Xu-2018 this is the cause of CI unstability, i will go ahead to merge this with @ahcorde 's approval.

@Barry-Xu-2018 my major concern is why we did not detect this failure when we were doing #1531? i think CI should have failed with cyclonedds...

This is because there is no API available to determine whether RMW supports content filtering. Currently, the only way to confirm if content filtering is supported is to configure the content filter and then check whether the configuration takes effect.

I think it is better to add a new RMW API to return whether DDS supports content filtering. Currently, the tests skip unsupported DDS by hardcoding. If we have this RMW API, we just need to call the API before running the tests to decide whether to proceed. This way, once DDS supports content filtering later, we only need to change the return value of this API, and the relevant tests can run without modifying code in many places.