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Abderahmane BENALI
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Merge branch 'main' into devel
Bring the release-prep commits on main into devel ahead of the v0.5.0 release PR: the GitHub issue forms and PR template (#56) and the Lyrical CI matrix entry (#17). Conflict-free; ci.yml takes Lyrical from main and keeps devel's [main, devel] push/PR triggers.
2 parents e819eb5 + 6238500 commit 2efa180

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‎.github/ISSUE_TEMPLATE/bug_report.yml‎

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name: 🐛 Bug Report
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description: File a bug report.
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labels: ["bug"]
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body:
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- type: markdown
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attributes:
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value: "**Required Info:**"
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- type: input
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id: generative_ai
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attributes:
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label: "Generated by Generative AI"
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description: "If this issue was generated using Generative AI, specify the tool and model used (e.g. GitHub Copilot, Claude Code)"
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validations:
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required: false
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- type: input
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id: os
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attributes:
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label: "Operating System:"
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description: |
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Please try to be specific.
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Run `uname -a` from a terminal and copy/paste its output here.
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This RMW is Linux-only (it uses `epoll`, `eventfd`, `/dev/shm` and `AF_UNIX`).
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value: |
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```
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<PUT OS INFO HERE>
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```
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validations:
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required: true
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- type: dropdown
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id: ros_distro
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attributes:
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label: "ROS 2 distro:"
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options:
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- jazzy
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- kilted
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- rolling
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- other (please state in Additional information)
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validations:
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required: true
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- type: input
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id: version
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attributes:
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label: "rmw_unix_socket_cpp version or commit hash:"
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description: |
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The version from `package.xml`, or the commit hash you built from (`git rev-parse HEAD`).
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validations:
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required: true
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- type: input
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id: clientlib
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attributes:
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label: "Client library (if applicable):"
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description: |
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**Examples:** *rclcpp*, *rclpy*, ...
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Client libraries are the APIs that allow users to implement their ROS 2 code.
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validations:
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required: false
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- type: dropdown
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id: executor
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attributes:
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label: "Executor (if applicable):"
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description: |
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Wait-set and event delivery behaviour differs noticeably between executors.
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options:
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- SingleThreadedExecutor
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- MultiThreadedExecutor
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- StaticSingleThreadedExecutor
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- EventsExecutor
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- other / not sure
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validations:
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required: false
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- type: dropdown
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id: other_rmw
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attributes:
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label: "Does the same reproducer work with another RMW?"
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description: |
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Re-run with `RMW_IMPLEMENTATION=rmw_fastrtps_cpp` (or `rmw_cyclonedds_cpp`).
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This tells us whether the bug is specific to this RMW or lives further up the stack.
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options:
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- "Yes — it works with another RMW, so the bug looks specific to rmw_unix_socket_cpp"
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- "No — it fails with another RMW too"
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- "Not tested"
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validations:
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required: false
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- type: textarea
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id: qos
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attributes:
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label: "QoS profile (if applicable):"
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description: |
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If you use a non-default QoS profile, post it here (reliability, durability, history, depth).
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Note that some policies are unsupported — see the Limitations section of the README.
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validations:
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required: false
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- type: textarea
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id: doctor
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attributes:
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label: "'ros2 doctor --report' output"
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description: |
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It can help us knowing the details of your ROS environment.
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Please use the command `ros2 doctor --report` and copy paste its output here.
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value: |
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<details><summary>ros2 doctor --report</summary>
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```console
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<COPY OUTPUT HERE>
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```
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</details>
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validations:
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required: false
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- type: textarea
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id: repro
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attributes:
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label: "Steps to reproduce issue"
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description: |
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How do you trigger this bug? Please walk us through it step by step.
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Include all the commands you ran in the exact order you ran them so that anyone can reproduce the bug.
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Remember that every process that should talk to each other needs `RMW_IMPLEMENTATION=rmw_unix_socket_cpp` set.
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placeholder: |
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1.
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2.
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3.
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...
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validations:
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required: true
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- type: textarea
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id: expected
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attributes:
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label: "Expected behavior"
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validations:
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required: true
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- type: textarea
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id: actual
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attributes:
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label: "Actual behavior"
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description: |
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Include any error output. If a process crashed, a backtrace is very helpful.
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Setting `RCUTILS_LOGGING_SEVERITY=DEBUG` often surfaces the relevant RMW logs.
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validations:
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required: true
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- type: textarea
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id: addinfo
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attributes:
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label: "Additional information"
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description: |
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Please note any additional information to share here.
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e.g) Is the reported bug a regression? If so, what is the last version where it still worked fine?
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How many nodes/topics does your system run, and does the problem depend on that scale?
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validations:
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required: false

‎.github/ISSUE_TEMPLATE/config.yml‎

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blank_issues_enabled: true
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contact_links:
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- name: 🔗 Not sure whether this RMW supports what you need?
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url: https://github.com/benaliabderrahmane/rmw_unix_socket_cpp#limitations
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about: The README lists the supported QoS policies and the known limitations.
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- name: 🔗 Want to understand how it works internally?
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url: https://github.com/benaliabderrahmane/rmw_unix_socket_cpp/blob/main/rmw_unix_socket_cpp/DESIGN.md
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about: DESIGN.md documents the discovery registry, the transports and the wait set.
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- name: 🔗 Have a general question on how to use ROS 2?
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url: https://robotics.stackexchange.com/
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about: The ROS community uses Robotics Stack Exchange for general project questions.
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- name: 🔗 Looking for documentation on active ROS distros?
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url: https://docs.ros.org/
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about: The ROS documentation is available at docs.ros.org

‎.github/ISSUE_TEMPLATE/feature_request.yml‎

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name: 🚀 Feature Request
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description: File a feature request.
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labels: ["enhancement"]
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body:
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- type: markdown
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attributes:
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value: "Thanks for taking the time to fill out this feature request form!"
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- type: textarea
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id: description
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attributes:
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label: Description
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description: |
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Describe in a few sentences what the feature consists of and what problem it will solve.
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validations:
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required: true
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- type: textarea
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id: motivation
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attributes:
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label: Motivation
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description: |
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Description what you are trying to solve, what is the problem to address with this Feature Request.
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validations:
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required: true
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- type: textarea
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id: implementation
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attributes:
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label: Design / Implementation Considerations
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description: |
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Relevant information on how the feature could be implemented and pros and cons of the different solutions.
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validations:
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required: false
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- type: textarea
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id: information
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attributes:
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label: Additional Information
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description: |
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If you have more details information, please describe here.
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validations:
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required: false

‎.github/PULL_REQUEST_TEMPLATE.md‎

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## Description
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<!--
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Please include a summary of the changes and the related issue.
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Highlight any key points or areas of concern.
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-->
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<!--
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*Automatically closes linked issue when PR is merged.
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Usage: `Fixes #<issue number>`, or `Fixes (paste link of issue)`.*
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-->
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Fixes # (issue)
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### Is this user-facing behavior change?
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<!--
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If no, just leave this section empty.
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If yes, please explain how user-experience changes with this pull request.
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-->
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### How was this tested?
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<!--
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Which tests did you add or run, and on which ROS 2 distro?
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For a bug fix, a test that fails before the change and passes after it is the best evidence.
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CI builds and tests run on jazzy, kilted and rolling.
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-->
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### Did you use Generative AI?
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<!--
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If this pull request was generated using Generative AI, please specify the tool and model used (e.g. GitHub Copilot, Claude Code).
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If only specific parts were generated by Generative AI, please list those parts (e.g. function A, class B, etc.).
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-->
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### Additional Information
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<!--
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If applicable, provide any additional context or details about the changes.
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-->

‎.github/workflows/ci.yml‎

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strategy:
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fail-fast: false
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matrix:
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ros_distro: [jazzy, kilted, rolling]
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ros_distro: [jazzy, kilted, rolling, lyrical]
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container:
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image: ros:${{ matrix.ros_distro }}-ros-base
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# Default Docker /dev/shm is 64MB; one domain registry mmap is ~37MB
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ros-${{ matrix.ros_distro }}-test-msgs \
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ros-${{ matrix.ros_distro }}-rosidl-typesupport-cpp \
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ros-${{ matrix.ros_distro }}-rosidl-runtime-cpp
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# rosidl_buffer is a Rolling-only package (introduced after Jazzy/
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# Kilted were branched) and test_msgs' exported imported targets
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# reference it. CMake side: find_package(rosidl_buffer QUIET) in
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# CMakeLists handles the apt-missing case on older distros.
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if [ "${{ matrix.ros_distro }}" = "rolling" ]; then
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# rosidl_buffer was introduced after Jazzy/Kilted were branched and
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# test_msgs' exported imported targets reference it; Lyrical branched
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# from Rolling after it landed, so both ship it. CMake side:
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# find_package(rosidl_buffer QUIET) in CMakeLists handles the
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# apt-missing case on older distros.
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if [ "${{ matrix.ros_distro }}" = "rolling" ] || [ "${{ matrix.ros_distro }}" = "lyrical" ]; then
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apt-get install -y --no-install-recommends \
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ros-rolling-rosidl-buffer
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ros-${{ matrix.ros_distro }}-rosidl-buffer
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fi
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- name: Build

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