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Add is_cft_supported field to rmw_subscription_t for content filtering support#415

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fujitatomoya merged 2 commits intoros2:rollingfrom
Barry-Xu-2018:develop/topic-add-is-cft-supported
Mar 10, 2026
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Add is_cft_supported field to rmw_subscription_t for content filtering support#415
fujitatomoya merged 2 commits intoros2:rollingfrom
Barry-Xu-2018:develop/topic-add-is-cft-supported

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@Barry-Xu-2018 Barry-Xu-2018 commented Mar 9, 2026 •
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Description

Add a new field to indicate whether RMW supports the content filter feature.

Is this user-facing behavior change?

No

Did you use Generative AI?

No

Additional Information

Currently, there is no RMW interface to check whether the content filter feature is supported. Currently, the code at the RCL layer uses a workaround to determine whether RMW supports content filtering and configures this value accordingly.
Refer to ros2/rcl#1293

@Barry-Xu-2018
Add is_cft_supported field to rmw_subscription_t for content filterin…
c1b9bae 
…g support

Signed-off-by: Barry Xu <barry.xu@sony.com>
Copilot AI review requested due to automatic review settings March 9, 2026 06:23
@Barry-Xu-2018 Barry-Xu-2018 mentioned this pull request Mar 9, 2026
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Copilot AI reviewed Mar 9, 2026
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Pull request overview

This PR adds a new flag on rmw_subscription_t intended to indicate whether the underlying RMW implementation supports the Content Filtered Topic (CFT) feature, so higher layers can avoid workarounds when deciding how to configure CFT behavior.

Changes:

  • Add bool is_cft_supported; to rmw_subscription_t.
  • Add a brief doc comment describing the new field.

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@Barry-Xu-2018
Address comments from Copilot
e7f9ab1 
Signed-off-by: Barry Xu <barry.xu@sony.com>
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fujitatomoya commented Mar 9, 2026

Pulls: ros2/rcl#1293, #415
Gist: https://gist.githubusercontent.com/fujitatomoya/412c0e1ec108138092044abd4fdfb5f7/raw/5d9d47782cc3576b58d243380c02065c00180601/ros2.repos
BUILD args: --packages-above-and-dependencies rcl rmw
TEST args: --packages-above rcl rmw
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18420

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

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Barry-Xu-2018 commented Mar 10, 2026

Re-run CI since the failure was caused by CI internal issues

  • Linux-aarch64 Build Status
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@fujitatomoya fujitatomoya merged commit 403ee71 into ros2:rolling Mar 10, 2026
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@Barry-Xu-2018 Barry-Xu-2018 mentioned this pull request Mar 20, 2026
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