Possible to add fastrtps as supported dds middleware in this repo?

[henriksod]

I have attempted to add support for compiling with fastrtps as dds vendor in my fork: https://github.com/henriksod/rules_ros2

I need this since I want to run a Micro-XRCE-DDS-Agent. The other alternative is to use Zenoh, but I feel that would lead to even more work on my part.

However, I get errors when trying to initialize nodes with this build. Not sure I have time to fault trace this, maybe someone wants to give it a go.

How to reproduce:

git clone https://github.com/henriksod/rules_ros2
cd rules_ros2
git diff HEAD~1 HEAD
bazel test //ros2/test:generic_publisher_tests --@ros2_rmw_implementation//:dds_vendor=fastdds

test.log

Executing tests from //ros2/test:generic_publisher_tests
-----------------------------------------------------------------------------
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from TestGenericPublisher
[ RUN      ] TestGenericPublisher.WhenPublisherDeletedInThread_EnsureCleanNodeCleanup

>>> [rcutils|error_handling.c:108] rcutils_set_error_state()
This error state is being overwritten:

  'error not set, at external/ros2_rcl/rcl/src/rcl/node.c:263'

with this new error message:

  'rcl node's rmw handle is invalid, at external/ros2_rcl/rcl/src/rcl/node.c:415'

rcutils_reset_error() should be called after error handling to avoid this.
<<<
[ERROR] [1690534755.799629788] [rcl]: Failed to fini publisher for node: 1
unknown file: Failure
C++ exception with description "failed to initialize rcl node: rcl node's rmw handle is invalid, at external/ros2_rcl/rcl/src/rcl/node.c:415" thrown in the test body.
[  FAILED  ] TestGenericPublisher.WhenPublisherDeletedInThread_EnsureCleanNodeCleanup (14 ms)
[----------] 1 test from TestGenericPublisher (14 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (14 ms total)
[  PASSED  ] 0 tests.
[  FAILED  ] 1 test, listed below:
[  FAILED  ] TestGenericPublisher.WhenPublisherDeletedInThread_EnsureCleanNodeCleanup

 1 FAILED TES

[mvukov]

Hi, please open a PR -- it doesn't matter tests fail. We'll hopefully sort them out along the way.

[henriksod]

PR opened #148