Version Policy [1]
Version Scheme [1.i]
rmw_fastrtps_shared_cpp uses semver according to the recommendation for ROS Core packages in the ROS 2 Developer Guide.
Version Stability [1.ii]
rmw_fastrtps_shared_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]
rmw_fastrtps_shared_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]
rmw_fastrtps_shared_cpp contains C and C++ code and therefore must be concerned with ABI stability, and will maintain ABI stability within a ROS distribution.
Documentation [3]
Feature Documentation [3.i]
Some of the rmw_fastrtps_shared_cpp features are documented on the repository level README.
Much of Fast DDS itself has feature documentation hosted publicly.
Public API Documentation [3.ii]
Most of rmw_fastrtps_shared_cpp has embedded API documentation. It is not yet hosted publicly.
License [3.iii]
The license for rmw_fastrtps_shared_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.
Most recent test results can be found here
Copyright Statements [3.iv]
The copyright holders each provide a statement of copyright in each source code file in rmw_fastrtps_shared_cpp.
There is an automated test which runs a linter that ensures each file has at least one copyright statement.
The results of the test can be found here.
Testing [4]
Feature Testing [4.i]
All rmw_fastrtps_shared_cpp public features support ROS middleware feature implementations in rmw_fastrtps_cpp and rmw_fastrtps_dynamic_cpp.
Unit, integration, and system tests for ROS middlewares higher up in the stack, such as those found in test_rmw_implementation, test_rclcpp, and test_communication packages, provide coverage.
Public API Testing [4.ii]
All rmw_fastrtps_shared_cpp public API supports API implementations in in rmw_fastrtps_cpp and rmw_fastrtps_dynamic_cpp.
Unit tests for many parts of this API provide coverage, and they are located in the test directory.
New additions or changes to this API require tests before being added.
Unit, integration, and system tests for rmw_fastrtps_cpp and rmw_fastrtps_dynamic_cpp higher up in the stack, such as those found in test_rmw_implementation, test_rclcpp, and test_communication packages, further extend coverage.
Coverage [4.iii]
rmw_fastrtps_shared_cpp follows the recommendations for ROS Core packages in the ROS 2 Developer Guide, and opts to use branch coverage instead of line 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
Changes are required to make a best effort to keep or increase coverage before being accepted, but decreases are allowed if properly justified and accepted by reviewers.
Current coverage statistics can be viewed
here,
here,
here, and
here.
This package claims to meet the coverage requirements for the current quality level, even though it doesn’t have 95% line coverage.
The justification is that the only uncovered lines have to do with system resource exhaustion and Fast DDS internal failure.
A summary of how these statistics are calculated can be found in the ROS 2 On-boarding guide.
Linters and Static Analysis [4.v]
rmw_fastrtps_shared_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 nightly linter tests can be found here.