[21768] DDS data publication implementation

.github/workflows/docker-reusable-workflow.yml

@@ -82,10 +82,21 @@ jobs:
             -t ${{ env.DDSENABLER_COMPOSE_TEST_DOCKER_IMAGE }} \
             -f Dockerfile .
 
-      # Check Docker images exist
-      - name: Check if Docker images exist
+      # Check DDS Enabler Docker images exist
+      - name: Check if DDS Enabler Docker images exist
         run: |
-          [ -n "$(docker images -q ${{ env.DDSENABLER_COMPOSE_TEST_DOCKER_IMAGE }})" ] || echo "DDS Enabler Docker image does not exists"
+          [ -n "$(docker images -q ${{ env.DDSENABLER_COMPOSE_TEST_DOCKER_IMAGE }})" ] || echo "DDS Enabler Docker image does not exist"
+
+      # Pull ROS 2 Docker image
+      - name: Pull ROS 2 Docker image
+        run: |
+          docker image pull \
+            ${{ env.DDSENABLER_COMPOSE_TEST_ROS2_DOCKER_IMAGE }}
+
+      # Check ROS 2 Docker images exist
+      - name: Check if ROS 2 Docker images exist
+        run: |
+          [ -n "$(docker images -q ${{ env.DDSENABLER_COMPOSE_TEST_ROS2_DOCKER_IMAGE }})" ] || echo "ROS 2 Docker image does not exist"
 
       - name: Download dependencies and install requirements
         uses: ./src/.github/actions/project_dependencies

.github/workflows/reusable-workflow.yml

@@ -72,7 +72,7 @@ jobs:
         uses: eProsima/eProsima-CI/multiplatform/colcon_build_test@main
         with:
           packages_names: ${{ env.code_packages_names }}
-          cmake_args: -DBUILD_TESTS=ON -DCMAKE_BUILD_TYPE=${{ matrix.cmake_build_type }}
+          cmake_args: -DBUILD_TESTS=ON -DCMAKE_BUILD_TYPE=${{ matrix.cmake_build_type }} -DCOMPILE_EXAMPLES=ON
           workspace_dependencies: install
           ctest_args: --label-exclude "xfail"
           colcon_meta_file: src/.github/workflows/configurations/${{ runner.os }}/colcon.meta

.github/workflows/test.yml

@@ -38,7 +38,7 @@ on:
       dependencies_artifact_postfix:
         description: 'Postfix name to add to artifact name to download dependencies. This is use to download a specific artifact version from eProsima-CI.'
         required: true
-        default: '_nightly'
+        default: '_ddsenabler'
 
   pull_request:
   push:
@@ -51,15 +51,15 @@ jobs:
     name: reusable_tests
     uses: ./.github/workflows/reusable-ubuntu-ci.yml
     with:
-      dependencies_artifact_postfix: ${{ inputs.dependencies_artifact_postfix || '_nightly' }}
+      dependencies_artifact_postfix: ${{ inputs.dependencies_artifact_postfix || '_ddsenabler' }}
       ref: ${{ github.ref }}
     secrets: inherit
 
   reusable_tests_windows:
     name: reusable_tests
     uses: ./.github/workflows/reusable-windows-ci.yml
     with:
-      dependencies_artifact_postfix: ${{ inputs.dependencies_artifact_postfix || '_nightly' }}
+      dependencies_artifact_postfix: ${{ inputs.dependencies_artifact_postfix || '_ddsenabler' }}
       ref: ${{ github.ref }}
     secrets: inherit
 
@@ -72,6 +72,6 @@ jobs:
       devutils_branch: ${{ inputs.devutils_branch || 'main' }}
       ddspipe_branch: ${{ inputs.ddspipe_branch || 'main' }}
       ddsenabler_branch: ${{ inputs.ddsenabler_branch || github.head_ref || github.ref_name }}
-      dependencies_artifact_postfix: ${{ inputs.dependencies_artifact_postfix || '_nightly' }}
+      dependencies_artifact_postfix: ${{ inputs.dependencies_artifact_postfix || '_ddsenabler' }}
       ref: ${{ github.ref }}
     secrets: inherit

.gitignore

@@ -0,0 +1,64 @@
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### Vim ###
+# swap
+[._]*.s[a-w][a-z]
+[._]s[a-w][a-z]
+# session
+Session.vim
+# temporary
+.netrwhist
+*~
+# auto-generated tag files
+tags
+
+build/
+install/
+log/
+
+### Visual Studio ###
+.vs
+
+### Visual Studio Code ###
+.vscode
+
+### Documentation ###
+docs/rst/_static/css/online_eprosima_rtd_theme.css
+
+
+### Python ###
+# Precompile files
+__pycache__

ddsenabler/DDS_ENABLER_CONFIGURATION.json

@@ -23,7 +23,9 @@
           }
         ]
       },
-      "ddsenabler": null,
+      "ddsenabler": {
+        "initial-publish-wait": 500
+      },
       "specs": {
         "threads": 12,
         "logging": {

ddsenabler/DDS_ENABLER_CONFIGURATION.yaml

@@ -13,6 +13,7 @@ dds:
 
 # DDS Enabler configuration
 ddsenabler:
+  initial-publish-wait: 500
 
 #Specs configuration
 specs: