required from ros2/design#282, Content Filtered Topic ROS 2.

In general I'm OK with this, but I want to hold off until we've done the transition to Jammy and have things on the buildfarm stabilized a bit. Hopefully later this week.

I became very interested in this today because the current version of Fast-RTPS released in Rolling (2.3.4) does not build on Ubuntu Jammy

Here is Ubuntu Jammy CI

• Ubuntu Jammy
• Ubuntu Jammy aarch64
• Ubuntu Focal
• Ubuntu Focal aarch64
• Windows

Windows job failed due to agent disconnection

@clalancette @nuclearsandwich Friendly ping. It'd be great to have this merged as soon as possible since it enables CFT (ros2/design#282). Besides, ROS 2 Humble will ship Fast DDS v2.6.0, which will branch out from master in a couple of weeks, so I really think that we should run some nightlies on master before that.

CC: @fujitatomoya @MiguelCompany

Here's another full CI to see where we are at:

• Linux
• Linux-aarch64
• Windows

CC: @iuhilnehc-ynos Just FYI, this is a PR for Fast-DDS CFT feature to ROS 2. we need to align with this PR.

@EduPonz FYI, the CI on Linux looks like there are some failing tests that are not in the nightlies. If we compare the results on Linux to those on https://ci.ros2.org/view/nightly/job/nightly_linux_debug/2220/ (which is the closest nightly analog), it looks like there are 8 new regressions. Can you look into those?

Self-assigning to make sure that I keep tabs on the momentum here but I'm not doing any work towards resolving the test failures clalancette mentioned as its beyond my current knowledge.

Can you look into those?

Sure, we will look into those. Thanks guys!

@clalancette @nuclearsandwich We've tracked this down to an issue in Fast DDS, which is being fixed on eProsima/Fast-DDS#2544.

While debugging this, I also found that an improvement on rmw_fastrtps could be made (ros2/rmw_fastrtps#586). That improvement did also fix the failing tests here.

The tests pass with any of those PRs in.

@clalancette PR eProsima/Fast-DDS#2544 has been merged, so the tests on this one should pass now

ros2/rmw_fastrtps#586 has a lot of new failures that need to be looked into. That said, it looks like either that PR or the one in Fast-DDS itself should have solved the issue, so here's another run with just switching to Fast-DDS master branch to see what the situation looks like:

• Linux
• Linux-aarch64
• Windows

@clalancette What do you think?

The warnings on Linux-aarch64 are known, and all of the failures shown on Windows have been seen at least once in the last month. So I think that much is good. Here are some additional jobs to see how things look:

• Windows Debug
• RHEL
• Packaging Linux
• Packaging Linux aarch64
• Packaging Windows

@EduPonz @MiguelCompany Overall, the CI for this looks good now. I'm hesitating to merge it because we can only do a binary release once we have a tagged version. That is, our source and binary releases will be divergent with respect to the Fast-DDS version in use. This is OK for a little while, but I'd like to understand the timeline for a planned 2.6.0 tag and release. Can you give me some approximate dates for when that is going to happen? Thanks.

Can you give me some approximate dates for when that is going to happen?

Sure thing! Fast DDS v2.6.0 will be release somewhere between the 16th and the 18th March 2022. In fact, this 2.6 is the version we will include in Humble, thus it will be released prior to the RMW API freeze due to March the 21st. Is that OK with you?

In fact, this 2.6 is the version we will include in Humble, thus it will be released prior to the RMW API freeze due to March the 21st.

I can't speak for Chris but I really appreciate that y'all are working to adhere to the RMW API freeze deadline and factoring that into your release schedule. One of the big challenges for ROS 2's release schedule has been getting each of the components to come together at the right time to stabilize higher level components above them so I hope this works out well for all of us and let me know if you need any release support.

@EduPonz Thanks for the feedback, that is very helpful. As @nuclearsandwich says, we very much appreciate that you are being proactive about getting the new version of Fast-DDS available before the Humble freeze deadline.

With the state of CI here, I'm going to go ahead and merge this on Monday, March 7. I'm holding off over the weekend mostly so we are around to deal with any unexpected things that happen as a result of this merge.

@clalancette @nuclearsandwich We did the v2.6.0 release of Fast DDS yesterday, along with release v1.0.24 of Fast CDR.

I have tried to do a bloom-release -r rolling fastrtps --edit changing the devel branch to 2.6.x, but it failed with the following error.

==> git-bloom-generate -y rosrelease rolling --source upstream -i 1
Releasing package: ['fastrtps']
Releasing package 'fastrtps' for 'rolling' to: 'release/rolling/fastrtps'
 [git-bloom-patch import]: 'execute_command' failed to call 'git am /tmp/tmpc8svf2ak/*.patch' which had a return code (128):
 [git-bloom-patch import]: ```
error: patch failed: src/cpp/security/authentication/PKIDH.cpp:819
error: src/cpp/security/authentication/PKIDH.cpp: patch does not apply
hint: Use 'git am --show-current-patch' to see the failed patch
Applying: Apply OpenSSL 3.0 patches from upstream 2.3.x branch.
Patch failed at 0001 Apply OpenSSL 3.0 patches from upstream 2.3.x branch.
When you have resolved this problem, run "git am --continue".
If you prefer to skip this patch, run "git am --skip" instead.
To restore the original branch and stop patching, run "git am --abort".

 [git-bloom-patch import]: ```
 [git-bloom-patch import]: Failed to apply one or more patches for the 'Command 'git am /tmp/tmpc8svf2ak/*.patch' returned non-zero exit status 128.' branch.

Would you mind doing the bloom release for fastcdr and fastrtps ?

@MiguelCompany FYI, we did releases for these in ros/rosdistro#32482 and ros/rosdistro#32483 . We are probably going to wait to merge them until we get some other stuff released, but we'll merge it as a unit when it is all ready. Thanks.

@clalancette Thanks!