[#1742] Add mapping implementations for ROS 2 tunnel by orecham · Pull Request #1822 · eclipse-iceoryx/iceoryx2

orecham · 2026-07-14T11:21:59Z

Notes for Reviewer

Adds the following Mapping implementations:

PrefixMapping - dynamic mapping of services with the prefix ros2://topics/ to ROS 2 topics
StaticMapping - static mapping of services to topics explicitly specified by configuration

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Add sensible notes for the reviewer
PR title is short, expressive and meaningful
Consider switching the PR to a draft (Convert to draft)
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Relevant issues are linked in the References section
Branch follows the naming format (iox2-123-introduce-posix-ipc-example)
Commits messages are according to this guideline
- Commit messages have the issue ID ([#123] Add posix ipc example)
- Keep in mind to use the same email that was used to sign the Eclipse Contributor Agreement
Tests follow the best practice for testing
~~Changelog updated in the unreleased section including API breaking changes~~

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Commits are properly organized and messages are according to the guideline
Unit tests have been written for new behavior
Public API is documented
PR title describes the changes

References

Relates #1742

codecov · 2026-07-14T11:50:37Z

Codecov Report

❌ Patch coverage is 61.29032% with 12 lines in your changes missing coverage. Please review.
✅ Project coverage is 76.25%. Comparing base (7744cae) to head (44d3573).
⚠️ Report is 22 commits behind head on main.

Files with missing lines	Patch %	Lines
...es/tunnel-backend/src/types/service_description.rs	62.96%	10 Missing ⚠️
iceoryx2-services/tunnel/src/ports/event.rs	50.00%	1 Missing ⚠️
...yx2-services/tunnel/src/ports/publish_subscribe.rs	50.00%	1 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff            @@
##             main    #1822    +/-   ##
========================================
  Coverage   76.24%   76.25%            
========================================
  Files         439      440     +1     
  Lines       43928    44047   +119     
  Branches     1359     1359            
========================================
+ Hits        33493    33588    +95     
- Misses       9316     9340    +24     
  Partials     1119     1119

Flag	Coverage Δ
CPP	`62.96% <ø> (ø)`
Rust	`76.14% <61.29%> (+0.01%)`	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
iceoryx2-services/tunnel/src/ports/event.rs	`73.07% <50.00%> (ø)`
...yx2-services/tunnel/src/ports/publish_subscribe.rs	`77.34% <50.00%> (ø)`
...es/tunnel-backend/src/types/service_description.rs	`92.00% <62.96%> (-4.02%)`	⬇️

... and 46 files with indirect coverage changes

🚀 New features to boost your workflow:

❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

…topic

…pping

… file

…tainer

elBoberido

Reviewed everything but the tests. They will follow soon. Just that you already get some feedback.

elBoberido · 2026-07-21T11:37:17Z

+    let path = std::env::args()
+        .nth(1)
+        .unwrap_or_else(|| DEFAULT_MAPPING_FILE.to_string());
+


Food for thought. We already use clap in other examples. What do you think about also using it here too?

There's no clap in this workspace yet. Were you asking for consistency or e.g. you think the automatic --help output is useful?

Just for consistency. Since this has a default value, one does not need to know the parameter to just run the example. No need to action.

Added to tracking issue: #1761

The examples get an overhaul in 1-2 PRs from this one, so I will add it in then.

elBoberido · 2026-07-21T12:00:49Z

+/// Matches `RMW_DURATION_INFINITE`. Represents unbounded.
+const INFINITE: rmw_time_s = rmw_time_s {
+    sec: 9223372036,
+    nsec: 854775807,
+};


Can you add a note that this weird numbers originate from i64::MAX which is 9223372036854775807 and the nsecs are the lower 9 decimal digits and the secs the remaining decimal digits, making infinite representable as i64::MAX in nanoseconds?

This is news to me (I did not look further into it), the value was taken from the RMW (which I point to in the existing comment): https://github.com/ros2/rmw/blob/rolling/rmw/include/rmw/time.h#L54

I can add the extra information if it would be useful. What was the reason you had in mind?

I guess just my OCD. I was wondering if these numbers are indeed infinity in RMW or maybe some copy & paste error. Having the explanation right there would help everybody who is asking this question in the future.

elBoberido · 2026-07-21T12:49:56Z

+
+        let topic_description = self.topic_description(topic, type_name)?;
+        let Some(service_description) = self.mapping.local::<S>(&topic_description) else {
+            return Ok(());


I don't really understand why Ok is returned. Although this is a private function, it would help to have a small description to understand what the function is supposed to do or at least a comment why Ok is returned here, since the behavior is a bit unexpected.

The comments still do not shed some light on Ok(()) equals skip and that returning Ok(()) is not a programming error and an Err should be returned instead?

The reason I'm asking is that, depending on the viewpoint, the current behavior is a silent error if e.g. someone has a typo in a topic name. It is okay if this is the intention but I cannot derive this conclusion from the current code and documentation.

Hmm, it depends on the mapping whether or not this is an error. For instance, for the prefix mapping it deliberately wants to skip any service names not following its convention, which is not an error.

We could add a log to the StaticMapping, but that could annoying when deliberately excluding some topics since they would all noisily log that they are not mapped.

The question is whether the return value should then be a Ok(()) or a Ok(Foo) with Foo either being a bool that tells that the discovery found the topic or not. Or an enum like

enum DiscoveryResult { Found, NotFound, }

But maybe I'm overthinking this.

I added it to #1761

Will tackle it in a small follow-up.

elBoberido

Looks good. Just some minor thing in general.

…es default rmw qos

…refix convention

…om ROS 2 topic

…ng test

elBoberido

Looks good. Just some documentation that could be added but that can also be done in a follow up.

…enting INFINITE in ROS 2

…c to a service

orecham force-pushed the iox2-1742-add-mapping-implementations-for-ros2 branch from 8567965 to b0161c2 Compare July 14, 2026 11:26

orecham self-assigned this Jul 14, 2026

orecham added 3 commits July 15, 2026 11:49

[eclipse-iceoryx#1742] Add QosProfile

383c381

[eclipse-iceoryx#1742] Add wrapper for rcl_get_publishers_info_by_topic

7cd087a

[eclipse-iceoryx#1742] Add wrapper for rcl_get_subscriptions_info_by_…

9f1f950

…topic

orecham force-pushed the iox2-1742-add-mapping-implementations-for-ros2 branch 3 times, most recently from c945c35 to 233e55b Compare July 15, 2026 10:40

orecham added 15 commits July 15, 2026 15:54

[eclipse-iceoryx#1742] Add PrefixMapping

70f70bb

[eclipse-iceoryx#1742] Split discovery implementation

fda90fd

[eclipse-iceoryx#1742] Add testing utilities

eed0470

[eclipse-iceoryx#1742] Add PrefixMapping tests

f419c3f

[eclipse-iceoryx#1742] Add StaticMapping

8d86c50

[eclipse-iceoryx#1742] Add StaticMapping tests

af2dda0

[eclipse-iceoryx#1742] Add StaticMapping example

a2751ea

[eclipse-iceoryx#1742] Add test-e2e verb to just scripts

b0a1ab2

[eclipse-iceoryx#1742] Add end-to-end tests for ros2 tunnel propagation

bfed293

[eclipse-iceoryx#1742] Add end-to-end tests for ros2 tunnel static ma…

5900c29

…pping

[eclipse-iceoryx#1742] Run end-to-end tests for ros2 in CI

d5edbca

[eclipse-iceoryx#1742] Use PortSettings in StaticMapping Entry

7dc5231

[eclipse-iceoryx#1742] Move StaticMapping's config schema to separate…

cc62c0f

… file

[eclipse-iceoryx#1742] Drop support for BestAvailable QoS option

9bba95f

[eclipse-iceoryx#1742] Whitelist github workspace within ROS 2 CI con…

44d3573

…tainer

orecham force-pushed the iox2-1742-add-mapping-implementations-for-ros2 branch from 233e55b to 44d3573 Compare July 15, 2026 14:48

orecham requested a review from elfenpiff July 15, 2026 14:48

orecham changed the title ~~[WIP][#1742] Add mapping implementations for ROS 2 tunnel~~ [#1742] Add mapping implementations for ROS 2 tunnel Jul 15, 2026

elBoberido reviewed Jul 21, 2026

View reviewed changes

[eclipse-iceoryx#1742] Add test to ensure QosProfile::default() match…

e8cab5b

…es default rmw qos

orecham added 7 commits July 22, 2026 09:13

[eclipse-iceoryx#1742] Document ROS 2 discovery handling logic

c6df747

[eclipse-iceoryx#1742] Use Testing trait in ROS 2 tunnel tests

3eb0c4a

[eclipse-iceoryx#1742] Use TopicName to validate topic derived from p…

cc6c205

…refix convention

[eclipse-iceoryx#1742] Use ServiceName to validate service derived fr…

3078010

…om ROS 2 topic

[eclipse-iceoryx#1742] Add additional ignored pattern to prefix mappi…

53d72e0

…ng test

[eclipse-iceoryx#1742] Rename static mapping test of example config

c26beb5

[eclipse-iceoryx#1742] Use assert_that! in tests

1b27998

elBoberido previously approved these changes Jul 22, 2026

View reviewed changes

orecham added 3 commits July 22, 2026 16:46

[eclipse-iceoryx#1742] Add more documentation explaining value repres…

aadf1a6

…enting INFINITE in ROS 2

[eclipse-iceoryx#1742] Document methods in Discovery implementation

bcc1e7c

[eclipse-iceoryx#1742] Emit log when static mapping cannot map a topi…

8ba7e00

…c to a service

orecham dismissed elBoberido’s stale review via 8ba7e00 July 22, 2026 15:04

elBoberido approved these changes Jul 22, 2026

View reviewed changes

orecham mentioned this pull request Jul 22, 2026

ROS 2 Tunnel/Gateway: Post-implementation #1761

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orecham merged commit 5797fbd into eclipse-iceoryx:main Jul 22, 2026
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orecham deleted the iox2-1742-add-mapping-implementations-for-ros2 branch July 22, 2026 18:05

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