Changelog for package rmw_int2dds_cpp

0.1.0 (2026-08-21)

• Fix participant/context lifecycle: delete contained entities before the participant, release the participant when the last node is destroyed, recreate context DDS resources on node creation, and release all context resources on init failure.
• Apply requested QoS in services/clients; resolve BEST_AVAILABLE and SYSTEM_DEFAULT in the service actual QoS; apply deadline/liveliness.
• Wire localhost-only discovery into SPDP.
• Reject STRICTLY_REQUIRED unique network flow endpoints; restore content-filter field codes; set error messages on unsupported API stubs; ignore only same-node local publications; randomize the GID process field.
• Batch take_sequence into a single serialized take.
• Move development test executables into test/; align QUALITY_DECLARATION and README test status with the current state.
• Decide rmw_wait readiness before attaching to the wait set, so a call that finds work already pending skips the attach/wait/detach round trip. Guard conditions join the pre-wait scan through a non-destructive peek, and a zero-timeout poll no longer attaches at all. Saturated single-subscription throughput roughly doubles.
• Add test_rmw_wait_guards, the first automated test registered with CTest: guard condition readiness, trigger consumption, timeout handling and wake-up from another thread, all without a DDS participant.
• Move the int2dds_ffi_vendor package into this repository. Building from source no longer needs a second clone, and the dependency is declared without a version range because the two packages are now released in lockstep; the prebuilt FFI version stays pinned in one place, INT2DDS_FFI_VERSION in int2dds_ffi_vendor/CMakeLists.txt.
• Cache wait set attachments across rmw_wait calls, rebuild them by delta instead of a full reset, and skip the event status mask update when it is already set.
• Harden the persistent attachment cache against teardown and concurrency: detach attachments before removing the wait set from the registry, keep the registry valid during static destruction, make the registry insert exception-safe, clean caches and delete the status condition on the detached service/client destroy path, clean caches before freeing the context guard, re-flag an entity for re-attach when its reader or event status condition is momentarily null, and close the destroy-vs-cache race in the attachments.
• Serialize the concurrent service RPC paths under a multi-threaded executor: guard the response writer in rmw_send_response and the request/response readers in rmw_take_request / rmw_take_response per entity, fixing an intermittent service round-trip hang.
• Build the graph cache from SEDP endpoint-discovery push callbacks, remove graph entities on the dispose signal instead of on absence from a snapshot, and identify the local participant by its own key.
• Default INT2DDS_DATA_FRAG_SIZE to 1344 and INT2DDS_MAX_MESSAGE_SIZE to 13440 in rmw_init, and document the loopback discovery env vars in the usage table.
• Drop key/key_len from serialized write calls and bulk-copy fixed-width primitive arrays in the CDR codec.
• Contributors: Intellectus Corp.

0.0.1 (2026-06-25)

• Initial public release of the ROS 2 RMW implementation for int2DDS.
• Implement the rmw C interface: nodes, publishers, subscriptions, services, clients, graph queries, guard conditions, wait sets and events.
• Map ROS 2 QoS policies (history, reliability, durability, deadline, lifespan, liveliness) onto the int2DDS DDS/RTPS middleware.
• Provide CDR (de)serialization and introspection-based type support for both C and C++ messages.
• Register the implementation through register_rmw_implementation and mark the package as a member of rmw_implementation_packages.
• Link against the prebuilt int2DDS FFI library exported by the int2dds_ffi_vendor package.
• Add documentation: installation, usage, architecture, QoS mapping and security guides.
• Add a validation/ suite covering QoS, callbacks, content filtering and performance (latency / throughput / readiness) for rclcpp and rclpy.
• Contributors: Intellectus Corp.

::: note ::: title Note :::

This file uses the reStructuredText format expected by bloom / catkin_generate_changelog for ROS 2 package releases. When cutting the next release, move entries from Forthcoming into a new dated, versioned section (e.g. 0.2.0 (YYYY-MM-DD)). :::