QUALITY_DECLARATION

This document is a declaration of software quality for the rosidl_typesupport_introspection_cpp package, based on the guidelines in REP-2004.

rosidl_typesupport_introspection_cpp Quality Declaration

The package rosidl_typesupport_introspection_cpp claims to be in the Quality Level 1 category.

Below are the rationales, notes, and caveats for this claim, organized by each requirement listed in the Package Requirements for Quality Level 1 in REP-2004.

Version Policy [1]

Version Scheme [1.i]

rosidl_typesupport_introspection_cpp uses semver according to the recommendation for ROS Core packages in the ROS 2 Developer Guide.

Version Stability [1.ii]

rosidl_typesupport_introspection_cpp is at a stable version, i.e. >= 1.0.0. The current version can be found in its package.xml, and its change history can be found in its CHANGELOG.

Public API Declaration [1.iii]

All symbols in the installed headers are considered part of the public API.

All installed headers are in the include directory of the package, headers in any other folders are not installed and considered private.

API Stability Within a Released ROS Distribution [1.iv]/[1.vi]

rosidl_typesupport_introspection_cpp will not break public API within a released ROS distribution, i.e. no major releases once the ROS distribution is released.

ABI Stability Within a Released ROS Distribution [1.v]/[1.vi]

rosidl_typesupport_introspection_cpp contains C++ code and therefore must be concerned with ABI stability, and will maintain ABI stability within a ROS distribution.

Change Control Process [2]

rosidl_typesupport_introspection_cpp follows the recommended guidelines for ROS Core packages in the ROS 2 Developer Guide.

Change Requests [2.i]

This package requires that all changes occur through a pull request.

Contributor Origin [2.ii]

This package uses DCO as its confirmation of contributor origin policy. More information can be found in CONTRIBUTING.

Peer Review Policy [2.iii]

Following the recommended guidelines for ROS Core packages, all pull requests must have at least 1 peer review.

Continuous Integration [2.iv]

All pull requests must pass CI on all tier 1 platforms.

Currently nightly results can be seen here:

Documentation Policy [2.v]

All pull requests must resolve related documentation changes before merging.

Documentation [3]

Feature Documentation [3.i]

rosidl_typesupport_introspection_cpp has feature documentation and it is publicly hosted.

Public API Documentation [3.ii]

rosidl_typesupport_introspection_cpp has API documentation, hosted here.

License [3.iii]

The license for rosidl_typesupport_introspection_cpp is Apache 2.0, and a summary is in each source file, the type is declared in the package.xml manifest file, and a full copy of the license is in the LICENSE file.

There is an automated test which runs a linter that ensures each file has a license statement.

Testing [4]

Note about tests design

rosidl_typesupport_introspection_cpp tests validate generated source code rather than the code generator itself. That is, tests verify that both API and ABI of the generated source code enable the expected, relevant use cases. These tests rely on a set of input interface definition files, and a subset of the rosidl toolchain to generate source code for each of these files.

Feature Testing [4.i]

Each feature provided by rosidl_typesupport_introspection_cpp and the source code it generates has corresponding tests according to the rationale outlined in the “Note about tests design” at the beginning of section [4]. These can be found in the rosidl_typesupport_introspection_tests package.

New features are required to have tests before being added.

Currently nightly test results can be seen here:

Public API Testing [4.ii]

The rosidl_typesupport_introspection_cpp package does not have tests for its own API. This is a design decision, as detailed in “Note about tests design” at the beginning of section [4]. The rosidl_typesupport_introspection_tests packages implements such tests.

Coverage [4.iii]

rosidl_typesupport_introspection_cpp follows the recommendations for ROS Core packages in the ROS 2 Developer Guide, and opts to use line coverage instead of branch coverage.

This includes:

  • tracking and reporting line coverage statistics

  • achieving and maintaining a reasonable branch line coverage (90-100%)

  • no lines are manually skipped in coverage calculations

Current coverage statistics can be viewed here. Given the approach used for testing (detailed in “Note about tests design” at the beginning of section [4]) the pattern to search for rosidl_typesupport_introspection_cpp is: build.rosidl_typesupport_introspection_tests.rosidl_typesupport_introspection_cpp.rosidl_typesupport_introspection_tests.*.

Performance [4.iv]

APIs in rosidl_typesupport_introspection_cpp generated source code provide a thin layer for type-erased access to rosidl interfaces in C++. As such, no useful benchmarks can be devised at the package scope, but rather in the context of a system-wide test (e.g. by benchmarking communication using a middleware implementation that relies on these APIs and it is thus affected by the code structure these induce).

Therefore, this package does not include any performance tests. Refer to the system_tests repository for system-wide testing.

Linters and Static Analysis [4.v]

rosidl_typesupport_introspection_cpp uses and passes all the standard linters and static analysis tools for a C++ package as described in the ROS 2 Developer Guide.

Results of the linting tests can be found here.

Dependencies [5]

Direct Runtime ROS Dependencies [5.i/5.ii]

rosidl_typesupport_introspection_cpp does not have any runtime ROS dependencies.

It has “buildtool” dependencies, which do not affect the resulting quality of the package, because they do not contribute to the public library API. It also has several test dependencies, which do not affect the resulting quality of the package, because they are only used to build and run the test code.

Direct Runtime Non-ROS Dependencies [5.iii]

rosidl_typesupport_introspection_cpp does not have any runtime non-ROS dependencies.

Platform Support [6]

rosidl_typesupport_introspection_cpp supports all of the tier 1 platforms as described in REP-2000.

Currently nightly results can be seen here:

Security [7]

Vulnerability Disclosure Policy [7.i]

This package conforms to the Vulnerability Disclosure Policy in REP-2006.