rclcpp.TestNode.ConfigureNodesFilterAndCheckAddParameterEventCallback failure

[fujitatomoya]

see #3065 (comment)

spins off from ros2/rclpy#1609

root@tomoyafujita-B760M-Pro-RS-D4:~/ros2_ws/colcon_ws# export RMW_IMPLEMENTATION=rmw_connextdds
root@tomoyafujita-B760M-Pro-RS-D4:~/ros2_ws/colcon_ws# colcon test --event-handlers console_direct+ --packages-select rclcpp --ctest-args -R test_parameter_event_handler
Starting >>> rclcpp  
UpdateCTestConfiguration  from :/root/ros2_ws/colcon_ws/build/rclcpp/CTestConfiguration.ini
Parse Config file:/root/ros2_ws/colcon_ws/build/rclcpp/CTestConfiguration.ini
   Site: tomoyafujita-B760M-Pro-RS-D4
...
60: /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/test/rclcpp/test_parameter_event_handler.cpp:515: Failure
60: Expected equality of these values:
60:   received_from_remote_node1
60:     Which is: 1
60:   false
60: 
60: [  FAILED  ] TestNode.ConfigureNodesFilterAndCheckAddParameterEventCallback (1406 ms)
60: [ RUN      ] TestNode.ConfigureNodesFilterAndCheckAddParameterCallback
60: RTI Connext DDS Non-commercial license is for academic, research, evaluation and personal use only. USE FOR COMMERCIAL PURPOSES IS PROHIBITED. See RTI_LICENSE.TXT for terms. Download free tools at rti.com/ncl. License issued to Non-Commercial User license@rti.com For non-production use only.
60: Expires on 00-jan-00
60: Please contact support@rti.com with any questions or comments.
60: /root/ros2_ws/colcon_ws/src/ros2/rclcpp/rclcpp/test/rclcpp/test_parameter_event_handler.cpp:618: Failure
60: Expected equality of these values:
60:   received_from_remote_node2
60:     Which is: 0
60:   true
60: 
60: [  FAILED  ] TestNode.ConfigureNodesFilterAndCheckAddParameterCallback (1508 ms)
...

this issue is generated by #2971

• rmw_fastrtps does not have this problem. all tests pass with content filtering as expected.

[fujitatomoya]

@Barry-Xu-2018 i tried to dig a bit about this issue, but it dose not ring a bell for me. only thing that i can think of is that, connextdds content filtering does not work in this case?

[fujitatomoya]

@fgallegosalido any thoughts about this issue, why this fails with ConnextDDS?

• where CFT is set,

rclcpp/rclcpp/src/rclcpp/parameter_event_handler.cpp

Lines 77 to 107 in 6ff4d83

	bool
	ParameterEventHandler::configure_nodes_filter(const std::vector<std::string> & node_names)
	{
	if (node_names.empty()) {
	// Clear content filter
	event_subscription_->set_content_filter("");
	if (event_subscription_->is_cft_enabled()) {
	return false;
	}
	return true;
	}
	std::string filter_expression;
	size_t total = node_names.size();
	for (size_t i = 0; i < total; ++i) {
	filter_expression += "node = %" + std::to_string(i);
	if (i < total - 1) {
	filter_expression += " OR ";
	}
	}
	// Enclose each node name in "'".
	std::vector<std::string> quoted_node_names;
	for (const auto & name : node_names) {
	quoted_node_names.push_back("'" + resolve_path(name) + "'");
	}
	event_subscription_->set_content_filter(filter_expression, quoted_node_names);
	return event_subscription_->is_cft_enabled();
	}

• where the test fails,

rclcpp/rclcpp/test/rclcpp/test_parameter_event_handler.cpp

Line 515 in 6ff4d83

EXPECT_EQ(received_from_remote_node1, false);