Upgrade Fast CDR to 2.2.x

[MiguelCompany]

This PR updates Fast CDR to 2.2.x

The following PRs update the dependent packages to deal with the API breaks from Fast CDR v1 to v2,
and should be merged along with this one:

• Support Fast CDR v2 rosidl_typesupport_fastrtps#114
• Support Fast CDR v2 rmw_fastrtps#746
• Support Fast CDR v2 rmw_connextdds#141

For simplicity, I have prepared this repos file with which we have tested the changes

[EduPonz]

@clalancette friendly ping here

[MichaelOrlov]

@MiguelCompany Out of curiosity.
What type of changes are in the Fast CDR 2.2 in comparison to the v1 among API?
I am a bit worried about the performance during serialization and deserialization especially with complicated embedded datatypes.

[MichaelOrlov]

Also, another question is whether they are backward compatible.

[MiguelCompany]

@MichaelOrlov

What type of changes are in the Fast CDR 2.2 in comparison to the v1 among API?

Apart from the changes explained here, methods where changed from CamelCase to snake_case

I am a bit worried about the performance during serialization and deserialization especially with complicated embedded datatypes.
Also, another question is whether they are backward compatible.

The serialization algorithm is the same if the Cdr object is constructed with CdrVersion::XCDRv1. This makes the change both backwards compatible and equally performant.

[clalancette]

@clalancette friendly ping here

Apologies. We are frantically trying to get Rolling working on Ubuntu 24.04. Once the dust settles on that, I'll take a look at this set of patches.

[clalancette]

Preliminary CI:

• Linux
• Linux-aarch64
• Windows

[clalancette]

Another round of CI after ros2/rosidl_typesupport_fastrtps#114 (comment)

• Linux
• Linux-aarch64
• Windows

[clalancette]

New CI after ros2/rmw_fastrtps#746 (comment)

• Linux
• Linux-aarch64
• Windows

[MiguelCompany]

@clalancette it seems my repos file is outdated and you should not use it for CI

[clalancette]

@clalancette it seems my repos file is outdated and you should not use it for CI

Oops, yeah. Here is a new one, with my updated repos file:

CI:

• Linux
• Linux-aarch64
• Windows

[clalancette]

Actually, I just realized another mistake in CI; we aren't using Fast-DDS 2.14.x. I've updated my gist, here is another round of CI:

• Linux
• Linux-aarch64
• Windows

[clalancette]

Here's additional CI:

• RHEL
• Clang
• Windows Debug

[clalancette]

@MiguelCompany @EduPonz It looks like RHEL-9 builds are failing because the new version of Fast-CDR currently requires CMake 3.22, whereas RHEL-9 only has CMake 3.20. Can you take a look?

[EduPonz]

@MiguelCompany @EduPonz It looks like RHEL-9 builds are failing because the new version of Fast-CDR currently requires CMake 3.22, whereas RHEL-9 only has CMake 3.20. Can you take a look?

I've opened eProsima/Fast-CDR#204 to avoid building Fast CDR test if the minimum required CMake is not met.

[MiguelCompany]

@clalancette eProsima/Fast-CDR#204 was merged. I think we can keep going on this one

[clalancette]

All right, here is new CI for everything:

• Linux
• Linux-aarch64
• Windows
• RHEL
• Clang
• Windows Debug

[clalancette]

All of the failures here are unrelated. So I'm going to go ahead and merge this one and the dependencies in. Thanks for the work here!