🧑‍🌾 rmw_connextdds support message making ROS2 CLI tests fail

[Crola1702]

Generated by Generative AI

Not completely generated by AI, but I used Claude Sonet 4.0 to get extra insights

Operating System:

Ubuntu noble

ROS version or commit hash:

Rolling, Kilted

RMW implementation (if applicable):

rmw_connextdds

RMW Configuration (if applicable):

No response

Client library (if applicable):

No response

'ros2 doctor --report' output

Steps to reproduce issue

1. Run a build in any of the reference jobs
2. See test regression fail

Expected behavior

Tests should not fail

Actual behavior

Tests are failing

Additional information

Reference builds:

• Kci__nightly-connext_ubuntu_noble_amd64#10
• Kci__nightly-debug_ubuntu_noble_amd64#11
• Kci__nightly-release_ubuntu_noble_amd64#9
• Rci__nightly-connext_ubuntu_noble_amd64#423
• Rci__nightly-debug_ubuntu_noble_amd64#413
• Rci__nightly-release_ubuntu_noble_amd64#422
• nightly_linux-aarch64_debug#3164
• nightly_linux-aarch64_repeated#3185
• nightly_linux-rhel_debug#2308
• nightly_linux-rhel_repeated#2309
• nightly_linux_debug#3443
• nightly_linux_release#3501
• nightly_linux_repeated#3868

Multiple ROS2 CLI tests are failing when using RTI Connext DDS middleware (rmw_connextdds) because RTI is printing an unwanted support message at the beginning of command output:

Please contact support@rti.com with any questions or comments.

It seems this extra line causes launch_testing.tools.expect_output() to fail when using strict=True mode, as the actual output no longer matches the expected output exactly. The issue affects multiple ROS2 CLI commands including ros2 param, ros2 action, and ros2 service.

Affected Commands

• ros2 param list
• ros2 param dump
• ros2 param load
• ros2 action send_goal
• ros2 service list
• ros2 service echo

Log Output

ros2 param list Test Failure

FAIL: test_verb_list.TestVerbList.test_verb_list[rmw_connextdds]
--------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Traceback (most recent call last):
  File "/tmp/ws/install_isolated/launch_testing/lib/python3.12/site-packages/launch_testing/markers.py", line 61, in _wrapper
    return func(self, *args, **kwargs)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/tmp/ws/src/ros2/ros2cli/ros2param/test/test_verb_list.py", line 176, in test_verb_list
    assert launch_testing.tools.expect_output(
AssertionError: assert False
 +  where False = <function expect_output at 0x7db597a80860>(expected_lines=['  bool_array_param', '  bool_param', '  double_array_param', '  double_param', '  foo.bar.str_param', '  foo.str_param', ...], text='Please contact support@rti.com with any questions or comments.\n  bool_array_param\n  bool_param\n  double_array_para...am\n  int_array_param\n  int_param\n  start_type_description_service\n  str_array_param\n  str_param\n  use_sim_time\n', strict=True)

ros2 param dump Test Failure

FAIL: test_verb_dump.TestVerbDump.test_verb_dump[rmw_connextdds]
---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Traceback (most recent call last):
  File "/tmp/ws/src/ros2/ros2cli/ros2param/test/test_verb_dump.py", line 207, in test_verb_dump
    assert launch_testing.tools.expect_output(
AssertionError: assert False
 +  where False = <function expect_output at 0x7db597a80860>(expected_text=('/foo/test_node:\n  ros__parameters:\n    bool_array_param:\n    - false\n    - false\n    - true\n    bool_param: tru...ce: true\n    str_array_param:\n    - foo\n    - bar\n    - baz\n    str_param: Hello World\n    use_sim_time: false\n' + '\n'), text='Please contact support@rti.com with any questions or comments.\n/foo/test_node:\n  ros__parameters:\n    bool_array_p...: true\n    str_array_param:\n    - foo\n    - bar\n    - baz\n    str_param: Hello World\n    use_sim_time: false\n\n', strict=True)

ros2 param load Test Failure with YAML Parsing Error

FAIL: test_verb_load.TestVerbLoad.test_verb_load_wildcard[rmw_connextdds]
---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Traceback (most recent call last):
  File "/tmp/ws/src/ros2/ros2cli/ros2param/test/test_verb_load.py", line 350, in test_verb_load_wildcard
    loaded_params = yaml.safe_load(param_dump_command.output)
                    ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/yaml/__init__.py", line 125, in safe_load
    return load(stream, SafeLoader)
           ^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/yaml/__init__.py", line 81, in load
    return loader.get_single_data()
           ^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/yaml/constructor.py", line 49, in get_single_data
    node = self.get_single_node()
           ^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/yaml/composer.py", line 36, in get_single_node
    document = self.compose_document()
               ^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/yaml/composer.py", line 58, in compose_document
    self.get_event()
  File "/usr/lib/python3/dist-packages/yaml/parser.py", line 118, in get_event
    self.current_event = self.state()
                         ^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/yaml/parser.py", line 193, in parse_document_end
    token = self.peek_token()
            ^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/yaml/scanner.py", line 129, in peek_token
    self.fetch_more_tokens()
  File "/usr/lib/python3/dist-packages/yaml/scanner.py", line 223, in fetch_more_tokens
    return self.fetch_value()
           ^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/yaml/scanner.py", line 577, in fetch_value
    raise ScannerError(None, None,
yaml.scanner.ScannerError: mapping values are not allowed here
  in "<unicode string>", line 2, column 15:
    /foo/test_node:
                  ^

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/tmp/ws/src/ros2/ros2cli/ros2param/test/test_verb_load.py", line 355, in test_verb_load_wildcard
    self.fail(f'Failed to parse YAML output: {e}')
AssertionError: Failed to parse YAML output: mapping values are not allowed here
  in "<unicode string>", line 2, column 15:
    /foo/test_node:
                  ^

ros2 action send_goal Test Failure

FAIL: test_cli.TestROS2ActionCLI.test_send_fibonacci_goal[rmw_connextdds]
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Traceback (most recent call last):
  File "/tmp/ws/src/ros2/ros2cli/ros2action/test/test_cli.py", line 271, in test_send_fibonacci_goal
    assert launch_testing.tools.expect_output(
AssertionError: assert False
 +  where False = <function expect_output at 0x7cfd42164360>(expected_lines=['Waiting for an action server to become available...', 'Sending goal:', '     order: 5', '', re.compile('Goal accepted with ID: [a-f0-9]+'), '', ...], text='Please contact support@rti.com with any questions or comments.\nWaiting for an action server to become available...\n...48058c37bcef0c829ebb\n\nResult:\n    sequence:\n- 0\n- 1\n- 1\n- 2\n- 3\n- 5\n\nGoal finished with status: SUCCEEDED\n', strict=True)

ros2 service echo Test Failure

FAIL: test_echo.TestROS2ServiceEcho.test_echo_no_arr[rmw_connextdds]
----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
Traceback (most recent call last):
  File "/tmp/ws/src/ros2/ros2cli/ros2service/test/test_echo.py", line 160, in test_echo_no_arr
    assert service_command.wait_for_output(
AssertionError: assert <BoolWithText(False): "Please contact support@rti.com with any questions or comments.\nNo publishers on topic '/test_i...sicTypes_Request[1], length: 0>'\nresponse: '<sequence type: test_msgs/srv/BasicTypes_Response[1], length: 1>'\n---\n">

The issue also affects some tests with other middleware implementations (rmw_fastrtps_cpp, rmw_zenoh_cpp), suggesting this might be a broader configuration or environment issue.

[mjcarroll]

@fgallegosalido and @lobolanja flagging this for your attention. Do you know where this log message is coming from and can it be suppressed?

[fgallegosalido]

@mjcarroll this looks like some new logging introduced in 7.3.0 regarding to licensing. I'll check it out

[fgallegosalido]

@Crola1702 @mjcarroll these messages come from the license activation. In this case, this is printed whenever a Domain Participant is created. The only way to suppress those messages is by providing a new license that has the verbosity turned off. We don't normally provide them like that to clients because they can hide errors or make them not aware of the license expiring. I can't really speak about providing a new license for this purpose (pinning @lobolanja for his opinion), but maybe the tests can be made more flexible to account for these kind of issues.

[fujitatomoya]

There are several failures in here, not only for license message.

• https://build.ros2.org/job/Kci__nightly-connext_ubuntu_noble_amd64/10/testReport/junit/ros2cli.ros2cli.test/test_ros2cli_daemon/test_get_publishers_info_by_topic/

assert <HistoryPolicy.UNKNOWN: 3> == <HistoryPolicy.KEEP_ALL: 2>
 +  where <HistoryPolicy.UNKNOWN: 3> = <rclpy.qos.QoSProfile object at 0x756a84ed9e00>.history
 +    where <rclpy.qos.QoSProfile object at 0x756a84ed9e00> = <rclpy.topic_endpoint_info.TopicEndpointInfo object at 0x756a596f40a0>.qos_profile
 +  and   <HistoryPolicy.KEEP_ALL: 2> = <rclpy.qos.QoSProfile object at 0x756a859530d0>.history

This is introduced by #1040, but 2 weeks ago CI was successfully passed #1040 (comment)

according to the rmw_connextdds implementation, it looks it converts the history and kind from Reader/Wrtier to RMW QoS with rmw_connextdds_readerwriter_qos_to_ros.
it this because of 7.3.0 behavior change or we should not check the history and depth during test?

@fgallegosalido @lobolanja what do you think?

• https://build.ros2.org/job/Kci__nightly-connext_ubuntu_noble_amd64/10/testReport/junit/(root)/projectroot/test_record_all__rmw_connextdds/

it could not record the expected amount of messages in the bag file. but i cannot reproduce this issue with my local environment.

/tmp/ws/src/ros2/rosbag2/rosbag2_transport/test/rosbag2_transport/test_record_all.cpp:262: Failure
Expected equality of these values:
  recorded_messages.size()
    Which is: 14
  expected_messages
    Which is: 11

• https://build.ros2.org/job/Kci__nightly-connext_ubuntu_noble_amd64/10/testReport/junit/(root)/projectroot/test_record_all__rmw_connextdds/

this is related to new license message for 7.3.0 connextdds upgrade.

AssertionError: assert False
 +  where False = <function expect_output at 0x7b2ee33d4040>(expected_lines=["requester: making request: test_msgs.srv.BasicTypes_Request(bool_value=False, byte_value=b'\\x00', char_value=0, flo...16_value=0, uint16_value=0, int32_value=-1, uint32_value=0, int64_value=0, uint64_value=0, string_value='bazbar')", ''], text="Please contact support@rti.com with any questions or comments.\nrequester: making request: test_msgs.srv.BasicTypes_R...t16_value=0, uint16_value=0, int32_value=-1, uint32_value=0, int64_value=0, uint64_value=0, string_value='bazbar')\n\n", strict=True)
 +    where <function expect_output at 0x7b2ee33d4040> = <module 'launch_testing.tools' from '/tmp/ws/install_isolated/launch_testing/lib/python3.12/site-packages/launch_testing/tools/__init__.py'>.expect_output
 +      where <module 'launch_testing.tools' from '/tmp/ws/install_isolated/launch_testing/lib/python3.12/site-packages/launch_testing/tools/__init__.py'> = launch_testing.tools
 +    and   ["requester: making request: test_msgs.srv.BasicTypes_Request(bool_value=False, byte_value=b'\\x00', char_value=0, flo...16_value=0, uint16_value=0, int32_value=-1, uint32_value=0, int64_value=0, uint64_value=0, string_value='bazbar')", ''] = get_echo_call_output(bool_value=False, int32_value=-1, float64_value=0.1, string_value='bazbar')
 +    and   "Please contact support@rti.com with any questions or comments.\nrequester: making request: test_msgs.srv.BasicTypes_R...t16_value=0, uint16_value=0, int32_value=-1, uint32_value=0, int64_value=0, uint64_value=0, string_value='bazbar')\n\n" = <launch_testing.tools.process.ProcessProxy object at 0x7b2edc5ca510>.output

Probably we can change the expected result with strict=False (default), that still checks the expected message is in the output with ignoring the related messages.

• https://build.ros2.org/job/Kci__nightly-connext_ubuntu_noble_amd64/10/testReport/junit/sros2.test.sros2.commands.security.verbs/test_generate_policy_no_nodes/test_generate_policy_no_nodes/

sros2 security enclaves generating test, this cannot be reproduced by my local environment either.

"/tmp/ws/src/ros2/sros2/sros2/test/sros2/commands/security/verbs/test_generate_policy_no_nodes.py", line 62, in test_generate_policy_no_nodes
    assert gen_command.exit_code != launch_testing.asserts.EXIT_OK
AssertionError: assert 0 != 0
 +  where 0 = <launch_testing.tools.process.ProcessProxy object at 0x7f38c12e0500>.exit_code
 +  and   0 = <module 'launch_testing.asserts' from '/tmp/ws/install_isolated/launch_testing/lib/python3.12/site-packages/launch_testing/asserts/__init__.py'>.EXIT_OK
 +    where <module 'launch_testing.asserts' from '/tmp/ws/install_isolated/launch_testing/lib/python3.12/site-packages/launch_testing/asserts/__init__.py'> = launch_testing.asserts

[fujitatomoya]

this is related to new license message for 7.3.0 connextdds upgrade.
Probably we can change the expected result with strict=False (default), that still checks the expected message is in the output with ignoring the related messages.

#1055 can address those failures.

[Crola1702]

This is introduced by #1040, but 2 weeks ago CI was successfully passed #1040 (comment)

I just opened #1061. The reason CI successfully passed is that it uses sequential executor.

[fujitatomoya]

his is introduced by #1040, but 2 weeks ago CI was successfully passed #1040 (comment)

according to the rmw_connextdds implementation, it looks it converts the history and kind from Reader/Wrtier to RMW QoS with rmw_connextdds_readerwriter_qos_to_ros.
it this because of 7.3.0 behavior change or we should not check the history and depth during test?

@fgallegosalido @lobolanja friendly ping.