Avoid using ros2 daemon with incompatible RMW configuration - #1270
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sylvesterkaczmarek wants to merge 1 commit into
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Avoid using ros2 daemon with incompatible RMW configuration#1270sylvesterkaczmarek wants to merge 1 commit into
sylvesterkaczmarek wants to merge 1 commit into
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Expose the daemon discovery configuration and verify it before using daemon-backed graph queries. Fall back to direct discovery when the running daemon uses a different or unverifiable configuration. Signed-off-by: Sylvester Kaczmarek <16242628+sylvesterkaczmarek@users.noreply.github.com>
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i assume you are using AI agent to create this PR, that is fine. but we have AI guideline: https://discourse.openrobotics.org/t/guidelines-for-ai-assisted-contributions-in-the-ros-project/55903 and please use our PR template to disclose the AI tools. |
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Summary
Fixes #1009.
Expose the daemon's discovery configuration over XML-RPC and verify it before
NodeStrategyuses daemon-backed graph queries.If the running daemon was started with a different RMW implementation, or its configuration cannot be verified, CLI graph queries warn and fall back to direct discovery instead of silently returning data from the wrong middleware graph.
The configuration currently includes:
This keeps daemon connectivity checks separate from configuration compatibility and preserves direct discovery as the safe fallback.
Testing
Added focused tests covering:
NodeStrategyfallback to direct discoveryFull ROS integration testing is left to project CI.
Did you use Generative AI?
Yes. AI was used to assist with tests.