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Added tracepoint#868

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nightduck wants to merge 1 commit intoros2:rollingfrom
nightduck:trace_rmw_take_loaned_message
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Added tracepoint#868
nightduck wants to merge 1 commit intoros2:rollingfrom
nightduck:trace_rmw_take_loaned_message

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@nightduck nightduck commented Mar 18, 2026

Description

It's difficult to fully trace a ROS2 system using zero-copy, because the message loaning functions don't invoke the rmw_take tracepoint, like the other rmw_take variants. This corrects for that.

Is this user-facing behavior change?

No

Did you use Generative AI?

No

Additional Information

@nightduck
Added tracepoint
0307582 
Signed-off-by: Oren Bell <oren.bell@autonomous-teaming.ai>
@nightduck nightduck force-pushed the trace_rmw_take_loaned_message branch from 90280c4 to 0307582 Compare March 18, 2026 09:07
@nightduck nightduck mentioned this pull request Mar 18, 2026
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fujitatomoya
fujitatomoya approved these changes Mar 18, 2026
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lgtm with green CI.

christophebedard
christophebedard approved these changes Mar 25, 2026
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Thank you very much for this!

Adding a test for this to test_tracetools would be appreciated (similar to test_intra_pub_sub.py vs test_pub_sub.py but for loaned messages), but we don't have to block on that.

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christophebedard commented Mar 25, 2026

Pulls: ros2/rmw_cyclonedds#566, #868
Gist: https://gist.githubusercontent.com/christophebedard/56e6f2c34eeb5f472fe92ef3a76cf93d/raw/6183fa4011e07c8c1196e898b72c34ead03198c8/ros2.repos
BUILD args: --packages-above-and-dependencies ‎rmw_cyclonedds_cpp ‎rmw_fastrtps_shared_cpp test_tracetools
TEST args: --packages-above ‎rmw_cyclonedds_cpp ‎rmw_fastrtps_shared_cpp test_tracetools
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18655

  • Linux Build Status
  • Linux-aarch64 Build Status
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@christophebedard christophebedard mentioned this pull request Mar 25, 2026
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@christophebedard christophebedard christophebedard approved these changes

@MiguelCompany MiguelCompany MiguelCompany approved these changes

@fujitatomoya fujitatomoya fujitatomoya approved these changes

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@nightduck @christophebedard @MiguelCompany @fujitatomoya