Add support for ROS 2 Kilted Kaiju

.github/workflows/test.yml

@@ -14,6 +14,7 @@ jobs:
           - humble
           - iron
           - jazzy
+          - kilted
         include:
           - ros_distribution: foxy
             docker_image: ros:foxy-ros-base
@@ -23,6 +24,8 @@ jobs:
             docker_image: ros:iron-ros-base
           - ros_distribution: jazzy
             docker_image: ros:jazzy-ros-base
+          - ros_distribution: kilted
+            docker_image: ros:kilted-ros-base
     container:
       image: ${{ matrix.docker_image }}
     steps:
@@ -68,7 +71,7 @@ jobs:
           RMW_IMPLEMENTATION: rmw_fastrtps_cpp
           ROS_LOCALHOST_ONLY: 0
         run: |
-          . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+          . /opt/ros/${{ matrix.ros_distribution }}/setup.sh && \
           dotnet test -c Release -p:BuildInParallel=false --no-build --verbosity normal --blame-crash-dump-type mini --blame-hang-dump-type none --blame-hang-timeout 1m
 
       - name: Test (cyclonedds)
@@ -77,7 +80,7 @@ jobs:
           RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
           ROS_LOCALHOST_ONLY: 0
         run: |
-          . /opt/ros/${{ matrix.ros_distribution }}/setup.sh
+          . /opt/ros/${{ matrix.ros_distribution }}/setup.sh && \
           dotnet test -c Release -p:BuildInParallel=false --no-build --verbosity normal --blame-crash-dump-type mini --blame-hang-dump-type none --blame-hang-timeout 1m
 
   windows:
@@ -90,7 +93,11 @@ jobs:
           - humble
           - iron
           - jazzy
+          - kilted
         include:
+          - ros_distribution: kilted
+            ros_archive: https://github.com/ros2/ros2/releases/download/release-kilted-20250728/ros2-kilted-20250728-windows-release-amd64.zip
+            is_legacy_distro: false
           - ros_distribution: jazzy
             ros_archive: https://github.com/ros2/ros2/releases/download/release-jazzy-20250820/ros2-jazzy-20250820-windows-release-amd64.zip
             is_legacy_distro: false
@@ -107,7 +114,20 @@ jobs:
       - uses: actions/checkout@v3
         with:
           submodules: true
-
+
+      - name: Restore cached ROS installation
+        id: ros-cache
+        uses: actions/cache@v3
+        with:
+          path: c:/dev/${{ matrix.ros_distribution }}/
+          key: ${{ matrix.ros_archive }}
+
+      - name: Download and install ROS
+        if: ${{ steps.ros-cache.outputs.cache-hit != 'true' }}
+        run: |
+          Invoke-WebRequest -Uri ${{ matrix.ros_archive }} -OutFile ros2-release.zip
+          Expand-Archive -Path ros2-release.zip c:/dev/${{ matrix.ros_distribution }}
+
       - name: Install dependencies (Legacy)
         if: ${{ matrix.is_legacy_distro }}
         run: |
@@ -116,27 +136,28 @@ jobs:
           choco install --limit-output --no-progress -y -s . tinyxml2
           choco install --limit-output --no-progress -y openssl --version 1.1.1.2100
 
-      - name: Install dependencies
+      - name: Install Pixi
         if: ${{ !matrix.is_legacy_distro }}
         run: |
           Set-ExecutionPolicy ByPass
           irm -useb https://pixi.sh/install.ps1 | iex
-          irm https://raw.githubusercontent.com/ros2/ros2/refs/heads/jazzy/pixi.toml -OutFile pixi.toml
-          $env:Path = [System.Environment]::GetEnvironmentVariable("Path","Machine") + ";" + [System.Environment]::GetEnvironmentVariable("Path","User")
-          pixi install
 
-      - name: Restore cached ROS installation
-        id: ros-cache
+      - name: Restore cached Pixi dependencies
+        if: ${{ !matrix.is_legacy_distro }}
+        id: pixi-cache
         uses: actions/cache@v3
         with:
-          path: c:/dev/${{ matrix.ros_distribution }}/
-          key: ${{ matrix.ros_archive }}
+          path: c:/dev/pixi/
+          key: pixi-${{ matrix.ros_distribution }}
 
-      - name: Download and install ROS
-        if: ${{ steps.ros-cache.outputs.cache-hit != 'true' }}
+      - name: Install dependencies
+        if: ${{ !matrix.is_legacy_distro }}
         run: |
-          Invoke-WebRequest -Uri ${{ matrix.ros_archive }} -OutFile ros2-release.zip
-          Expand-Archive -Path ros2-release.zip c:/dev/${{ matrix.ros_distribution }}
+          mkdir c:/dev/pixi/
+          cd c:/dev/pixi/
+          irm https://raw.githubusercontent.com/ros2/ros2/refs/heads/${{ matrix.ros_distribution }}/pixi.toml -OutFile pixi.toml
+          $env:Path = [System.Environment]::GetEnvironmentVariable("Path","Machine") + ";" + [System.Environment]::GetEnvironmentVariable("Path","User")
+          pixi install
 
       - name: Setup .NET 8.0
         uses: actions/setup-dotnet@v3
@@ -167,8 +188,8 @@ jobs:
           RMW_IMPLEMENTATION: rmw_fastrtps_cpp
           ROS_LOCALHOST_ONLY: 0
         run: |
-          refreshenv
-          call c:/dev/${{ matrix.ros_distribution }}/ros2-windows/setup.bat
+          refreshenv && ^
+          call c:/dev/${{ matrix.ros_distribution }}/ros2-windows/setup.bat && ^
           dotnet test -c Release -p:BuildInParallel=false --no-build --verbosity normal --blame-crash-dump-type mini --blame-hang-dump-type none --blame-hang-timeout 1m
 
       - name: Test (cyclonedds) (Legacy)
@@ -179,8 +200,8 @@ jobs:
           RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
           ROS_LOCALHOST_ONLY: 0
         run: |
-          refreshenv
-          call c:/dev/${{ matrix.ros_distribution }}/ros2-windows/setup.bat
+          refreshenv && ^
+          call c:/dev/${{ matrix.ros_distribution }}/ros2-windows/setup.bat && ^
           dotnet test -c Release -p:BuildInParallel=false --no-build --verbosity normal --blame-crash-dump-type mini --blame-hang-dump-type none --blame-hang-timeout 1m
 
       - name: Test (fastrtps)
@@ -191,10 +212,9 @@ jobs:
           RMW_IMPLEMENTATION: rmw_fastrtps_cpp
           ROS_LOCALHOST_ONLY: 0
         run: |
-          refreshenv
-          pixi shell
-          call c:/dev/${{ matrix.ros_distribution }}/ros2-windows/setup.bat
-          dotnet test -c Release -p:BuildInParallel=false --no-build --verbosity normal --blame-crash-dump-type mini --blame-hang-dump-type none --blame-hang-timeout 1m
+          refreshenv && ^
+          pixi run --manifest-path "c:/dev/pixi/" ^
+          cmd /c "call c:/dev/${{ matrix.ros_distribution }}/ros2-windows/setup.bat && dotnet test -c Release -p:BuildInParallel=false --no-build --verbosity normal --blame-crash-dump-type mini --blame-hang-dump-type none --blame-hang-timeout 1m"
 
       - name: Test (cyclonedds)
         if: ${{ !matrix.is_legacy_distro }}
@@ -204,10 +224,9 @@ jobs:
           RMW_IMPLEMENTATION: rmw_cyclonedds_cpp
           ROS_LOCALHOST_ONLY: 0
         run: |
-          refreshenv
-          pixi shell
-          call c:/dev/${{ matrix.ros_distribution }}/ros2-windows/setup.bat
-          dotnet test -c Release -p:BuildInParallel=false --no-build --verbosity normal --blame-crash-dump-type mini --blame-hang-dump-type none --blame-hang-timeout 1m
+          refreshenv && ^
+          pixi run --manifest-path "c:/dev/pixi/" ^
+          cmd /c "call c:/dev/${{ matrix.ros_distribution }}/ros2-windows/setup.bat && dotnet test -c Release -p:BuildInParallel=false --no-build --verbosity normal --blame-crash-dump-type mini --blame-hang-dump-type none --blame-hang-timeout 1m"
 
   #test_macos:
   #  runs-on: macos-latest

README.md

@@ -3,7 +3,8 @@ rclnet is a fast and easy-to-use .NET wrapper over ROS 2 client library, allowin
 
 ## What's New in 2.0
  - Added support for .NET 10 and changed minimum supported .NET version to 8.0
- - ROS2 Jazzy Support by @AlrayQiu ([#39](https://github.com/noelex/rclnet/pull/39))
+ - ROS 2 Kilted Support
+ - ROS 2 Jazzy Support by @AlrayQiu ([#39](https://github.com/noelex/rclnet/pull/39))
  - Simplified message generation workflow by @ha-ves ([#38](https://github.com/noelex/rclnet/pull/38))
  - String pooling is now disabled by default
 
@@ -48,6 +49,7 @@ Supported ROS 2 Distributions:
 - Humble Hawksbill
 - Iron Irwini
 - Jazzy Jalisco
+- Kilted Kaiju
 
 Supported Operating Systems:
 - Ubuntu

src/Rcl.NET.Tests/kilted.Dockerfile

@@ -0,0 +1,18 @@
+FROM ros:kilted-ros-core
+RUN apt-get update \
+    && apt-get -y install --no-install-recommends \
+       ros-kilted-rmw-cyclonedds-cpp \
+       ros-kilted-rmw-fastrtps-cpp \
+       ros-kilted-tf2-msgs \
+       ros-kilted-service-msgs \
+       wget \
+    && apt-get autoremove -y \
+    && apt-get clean -y \
+    && rm -rf /var/lib/apt/lists/* \
+    && wget https://dot.net/v1/dotnet-install.sh -O dotnet-install.sh  \
+    && chmod +x ./dotnet-install.sh \
+    && ./dotnet-install.sh --channel 10.0 --runtime dotnet \
+    && ./dotnet-install.sh --channel 9.0 --runtime dotnet \
+    && ./dotnet-install.sh --channel 8.0 --runtime dotnet
+ENV DOTNET_ROOT=/root/.dotnet
+ENV PATH=$PATH:$DOTNET_ROOT:$DOTNET_ROOT/tools

src/Rcl.NET.Tests/ubuntu.kilted.cyclonedds.runsettings

@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RunSettings>
+  <RunConfiguration>
+    <EnvironmentVariables>
+      <ROS_DISTRO>kilted</ROS_DISTRO>
+      <ROS_LOCALHOST_ONLY>0</ROS_LOCALHOST_ONLY>
+      <ROS_PYTHON_VERSION>3</ROS_PYTHON_VERSION>
+      <ROS_VERSION>2</ROS_VERSION>
+      <LD_LIBRARY_PATH>/opt/ros/kilted/opt/yaml_cpp_vendor/lib:/opt/ros/kilted/lib/x86_64-linux-gnu:/opt/ros/kilted/lib</LD_LIBRARY_PATH>
+      <AMENT_PREFIX_PATH>/opt/ros/kilted</AMENT_PREFIX_PATH>
+      <RMW_IMPLEMENTATION>rmw_cyclonedds_cpp</RMW_IMPLEMENTATION>
+    </EnvironmentVariables>
+  </RunConfiguration>
+</RunSettings>

src/Rcl.NET.Tests/ubuntu.kilted.fastrtps.runsettings

@@ -0,0 +1,14 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RunSettings>
+  <RunConfiguration>
+    <EnvironmentVariables>
+      <ROS_DISTRO>kilted</ROS_DISTRO>
+      <ROS_LOCALHOST_ONLY>0</ROS_LOCALHOST_ONLY>
+      <ROS_PYTHON_VERSION>3</ROS_PYTHON_VERSION>
+      <ROS_VERSION>2</ROS_VERSION>
+      <LD_LIBRARY_PATH>/opt/ros/kilted/opt/yaml_cpp_vendor/lib:/opt/ros/kilted/lib/x86_64-linux-gnu:/opt/ros/kilted/lib</LD_LIBRARY_PATH>
+      <AMENT_PREFIX_PATH>/opt/ros/kilted</AMENT_PREFIX_PATH>
+      <RMW_IMPLEMENTATION>rmw_fastrtps_cpp</RMW_IMPLEMENTATION>
+    </EnvironmentVariables>
+  </RunConfiguration>
+</RunSettings>

src/Rcl.NET/Interop/RclJazzy.cs

@@ -1,8 +1,16 @@
-using Rosidl.Runtime.Interop;
-using System.Runtime.InteropServices;
-using static Rcl.Interop.RclHumble;
+using System.Runtime.InteropServices;
 
 namespace Rcl.Interop;
 
-// Same typedef with iron
-using RclJazzy = RclIron;
+unsafe static class RclJazzy
+{
+    [DllImport("rcl", CallingConvention = CallingConvention.Cdecl)]
+    public static extern rcl_ret_t rcl_timer_init2(
+        RclCommon.rcl_timer_t* timer,
+        RclCommon.rcl_clock_t* clock,
+        RclCommon.rcl_context_t* context,
+        long period,
+        delegate* unmanaged[Cdecl]<RclCommon.rcl_timer_t*, long, void> callback,
+        RclCommon.rcl_allocator_t allocator,
+        bool autostart);
+}

src/Rcl.NET/Introspection/MessageIntrospection.cs

@@ -39,7 +39,7 @@ public unsafe static IMessageIntrospection Create(MessageTypeSupport* typesuppor
         {
             return new HumbleMessageIntrospection(typesupport);
         }
-        else if (RosEnvironment.IsJazzy)
+        else if (RosEnvironment.IsJazzy || RosEnvironment.IsKilted)
         {
             return new JazzyMessageIntrospection(typesupport);
         }
@@ -62,7 +62,7 @@ public unsafe static IMessageIntrospection Create(MessageMembers* messageMembers
         {
             return new HumbleMessageIntrospection(messageMembers);
         }
-        else if (RosEnvironment.IsJazzy)
+        else if (RosEnvironment.IsJazzy || RosEnvironment.IsKilted)
         {
             return new JazzyMessageIntrospection((MessageMembers_Jazzy*)messageMembers);
         }

src/Rcl.NET/Parameters/Impl/ParameterService.cs

@@ -98,7 +98,7 @@ internal unsafe ParameterService(RclNodeImpl node, IDictionary<string, Variant>
         {
             return &((RclFoxy.rcl_node_options_t*)handle)->arguments;
         }
-        else if (RosEnvironment.IsHumble || RosEnvironment.IsIron || RosEnvironment.IsJazzy)
+        else if (RosEnvironment.IsHumble || RosEnvironment.IsIron || RosEnvironment.IsJazzy || RosEnvironment.IsKilted)
         {
             return &((RclHumble.rcl_node_options_t*)handle)->arguments;
         }

src/Rcl.NET/RosEnvironment.cs

@@ -14,7 +14,7 @@ internal enum VersionRequirement
 /// </summary>
 public unsafe static class RosEnvironment
 {
-    private static readonly string[] SupportedDistributions = new[] { Foxy, Humble, Iron, Jazzy };
+    private static readonly string[] SupportedDistributions = [Foxy, Humble, Iron, Jazzy, Kilted];
 
     /// <summary>
     /// ROS 2 Foxy Fitzroy.
@@ -36,6 +36,11 @@ public unsafe static class RosEnvironment
     /// </summary>
     public const string Jazzy = "jazzy";
 
+    /// <summary>
+    /// ROS 2 Kilted Kaiju
+    /// </summary>
+    public const string Kilted = "kilted";
+
     /// <summary>
     /// Gets whether the application is running in foxy.
     /// </summary>
@@ -50,11 +55,17 @@ public unsafe static class RosEnvironment
     /// Gets whether the application is running in iron.
     /// </summary>
     public static bool IsIron => Distribution == Iron;
+
     /// <summary>
-    /// Gets whether the application is running in iron.
+    /// Gets whether the application is running in jazzy.
     /// </summary>
     public static bool IsJazzy => Distribution == Jazzy;
 
+    /// <summary>
+    /// Gets whether the application is running in kilted.
+    /// </summary>
+    public static bool IsKilted => Distribution == Kilted;
+
     /// <summary>
     /// Get the name of the rmw implementation being used.
     /// </summary>

src/Rcl.NET/SafeHandles/SafeNodeHandle.cs

@@ -31,6 +31,7 @@ public SafeNodeHandle(SafeContextHandle context, string name, string @namespace,
                     case RosEnvironment.Humble:
                     case RosEnvironment.Iron:
                     case RosEnvironment.Jazzy:
+                    case RosEnvironment.Kilted:
                         InitHumbleOrLater(namePtr, nsPtr, context, options);
                         break;
                     default: throw new NotImplementedException();

src/Rcl.NET/SafeHandles/SafeTimerHandle.cs

@@ -1,4 +1,4 @@
-using Rosidl.Messages.Rosgraph;
+using Rcl.Interop;
 
 namespace Rcl.SafeHandles;
 
@@ -10,15 +10,24 @@ public SafeTimerHandle(
         SafeContextHandle context, SafeClockHandle clock, long period)
     {
         _clock = clock;
-        * Object = rcl_get_zero_initialized_timer();
+        *Object = rcl_get_zero_initialized_timer();
 
         try
         {
             using (ScopedLock.Lock(ref _clock.SyncRoot))
             {
-                RclException.ThrowIfNonSuccess(
-                    rcl_timer_init(Object, clock.Object, context.Object,
-                      period, null, RclAllocator.Default.Object));
+                if (RosEnvironment.IsSupported(RosEnvironment.Jazzy))
+                {
+                    RclException.ThrowIfNonSuccess(
+                        RclJazzy.rcl_timer_init2(Object, clock.Object, context.Object,
+                          period, null, RclAllocator.Default.Object, true));
+                }
+                else
+                {
+                    RclException.ThrowIfNonSuccess(
+                        rcl_timer_init(Object, clock.Object, context.Object,
+                          period, null, RclAllocator.Default.Object));
+                }
                 _clock.AddTimerRef();
             }
         }

src/testEnvironments.json

@@ -35,6 +35,11 @@
       "name": "Container - Jazzy",
       "type": "docker",
       "dockerFile": "Rcl.NET.Tests/jazzy.Dockerfile"
+    },
+    {
+      "name": "Container - Kilted",
+      "type": "docker",
+      "dockerFile": "Rcl.NET.Tests/kilted.Dockerfile"
     }
   ]
 }