open-rmf · mxgrey · Jul 22, 2026 · Jul 21, 2026 · Jul 21, 2026 · Jul 22, 2026
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -2,17 +2,25 @@ name: Next-Gen Prototype CI
 
 on:
   push:
-    branches: [ main ]
+    branches: [ main, epic/next-gen-base ]
   pull_request:
-    branches: [ main ]
+    branches: [ main, epic/next-gen-base ]
+  workflow_dispatch:
 
 jobs:
   ci-check:
-    name: Colcon Overlay Build & Test Suite
+    name: Colcon Overlay Build & Test Suite (${{ matrix.rmw_implementation }})
     runs-on: ubuntu-latest
     container:
       image: ghcr.io/open-rmf/ros2_rust_base:jazzy
 
+    strategy:
+      fail-fast: false
+      matrix:
+        rmw_implementation:
+          - rmw_fastrtps_cpp
+          - rmw_cyclonedds_cpp
+
     steps:
       - name: Checkout Prototype Repository
         uses: actions/checkout@v4
@@ -25,6 +33,9 @@ jobs:
           source /opt/ros/jazzy/setup.bash
           rosdep update
           apt update
+          if [ "${{ matrix.rmw_implementation }}" = "rmw_cyclonedds_cpp" ]; then
+            apt install -y ros-jazzy-rmw-cyclonedds-cpp
+          fi
           rosdep install --from-paths . --ignore-src -y --skip-keys="rclrs ament_cargo ament_python"
           colcon build
         shell: bash
@@ -34,6 +45,9 @@ jobs:
         run: |
           source /opt/ros/jazzy/setup.bash
           source install/setup.bash
+          export ROS_LOCALHOST_ONLY=1
+          export RMW_IMPLEMENTATION=${{ matrix.rmw_implementation }}
           colcon test --executor sequential --packages-select rmf_path_server_test rmf_reservation_tests --event-handlers console_direct+
           colcon test-result --all
         shell: bash
+
diff --git a/bevy_ros2/src/lib.rs b/bevy_ros2/src/lib.rs
@@ -75,7 +75,7 @@ impl<T: MessageIDL + Debug> RosSubscription<T> {
 
         let subscriber = node
             .create_subscription(
-                topic.clone().reliable().transient_local().keep_all(),
+                topic.clone().reliable().transient_local().keep_last(10),
                 move |msg: T| {
                     debug!("Received a message on [{}]: {:?}", topic, msg);
                     *data_clone.lock().unwrap() = Some(msg.clone());
@@ -110,7 +110,7 @@ impl<T: MessageIDL + Debug> RosPublisher<T> {
 
     pub fn new_transient_local(node: &Arc<NodeState>, topic: String) -> Self {
         let publisher = node
-            .create_publisher(topic.reliable().transient_local().keep_all())
+            .create_publisher(topic.reliable().transient_local().keep_last(10))
             .unwrap();
 
         Self { publisher }

diff --git a/path_server/rmf_path_server/src/lib.rs b/path_server/rmf_path_server/src/lib.rs
@@ -537,7 +537,7 @@ pub fn start_path_server<P: MapfPlanner + 'static>(
     let footprints_clone2 = Arc::clone(&footprints_clone);
     let list_subscription = discovery_worker
         .create_subscription::<rmf_prototype_msgs::msg::ParticipantList, _>(
-            "/destination/discovery",
+            "/destination/discovery".transient_local().reliable(),
             move |_server: &mut DiscoveryServer<P>,
                   msg: rmf_prototype_msgs::msg::ParticipantList| {
                 if let Ok(mut map) = footprints_clone2.lock() {
@@ -590,7 +590,7 @@ pub fn start_path_server<P: MapfPlanner + 'static>(
                 let odom_sub = match server
                     .destinations_worker
                     .create_subscription::<Odometry, _>(
-                        odom_topic.as_str(),
+                        odom_topic.as_str().reliable(),
                         move |dest_server: &mut PlanServer<P>, odom_msg: Odometry| {
                             dest_server.handle_odometry(&robot_id_clone2, odom_msg);
                         },

diff --git a/path_server/rmf_path_server/tests/test_map_subscription.rs b/path_server/rmf_path_server/tests/test_map_subscription.rs
@@ -72,7 +72,8 @@ fn test_map_subscription() -> Result<(), Box<dyn std::error::Error>> {
 
     let robot_id = "robot1";
     let odom_topic = format!("{}/odom", robot_id);
-    let odom_pub = test_node.create_publisher::<Odometry>(odom_topic.as_str())?;
+    let odom_pub = test_node
+        .create_publisher::<Odometry>(odom_topic.as_str().reliable())?;
     let dest_topic = format!("{}/destination", robot_id);
     let dest_pub = test_node
         .create_publisher::<Destination>(dest_topic.as_str().transient_local().reliable())?;

diff --git a/path_server/rmf_path_server_demo/rmf_path_server_demo/robot_spawner.py b/path_server/rmf_path_server_demo/rmf_path_server_demo/robot_spawner.py
@@ -410,7 +410,7 @@ def odom_callback(msg, r_name=name):
             Odometry,
             f'{name}/odom',
             odom_callback,
-            qos_profile=self.reliable_transient_qos
+            qos_profile=10
         )
 
     def subscribe_to_plan(self, name):

diff --git a/path_server/rmf_path_server_test/test/test_path_server_follow.py b/path_server/rmf_path_server_test/test/test_path_server_follow.py
@@ -176,11 +176,11 @@ def r2_plan_cb(msg):
 
         self.node.create_subscription(
             Odometry, 'robot_1/odom', r1_odom_cb,
-            qos_profile=reliable_transient_qos
+            qos_profile=10
         )
         self.node.create_subscription(
             Odometry, 'robot_2/odom', r2_odom_cb,
-            qos_profile=reliable_transient_qos
+            qos_profile=10
         )
         self.node.create_subscription(
             Plan, 'robot_1/plan', r1_plan_cb,
@@ -207,7 +207,8 @@ def r2_plan_cb(msg):
         discovery_qos = QoSProfile(
             depth=1,
             durability=DurabilityPolicy.TRANSIENT_LOCAL,
-            history=HistoryPolicy.KEEP_LAST
+            history=HistoryPolicy.KEEP_LAST,
+            reliability=ReliabilityPolicy.RELIABLE,
         )
 
         discovery_pub = self.node.create_publisher(

diff --git a/path_server/rmf_path_server_test/test/test_path_server_scenario.py b/path_server/rmf_path_server_test/test/test_path_server_scenario.py
@@ -21,7 +21,7 @@
 from nav_msgs.msg import Odometry
 import pytest
 import rclpy
-from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile
+from rclpy.qos import DurabilityPolicy, HistoryPolicy, QoSProfile, ReliabilityPolicy
 from rmf_prototype_msgs.msg import (
     Destination,
     DestinationConstraints,
@@ -141,14 +141,14 @@ def r2_cb(msg):
             Odometry,
             'robot_1/odom',
             r1_cb,
-            10
+            qos_profile=10
         )
 
         self.node.create_subscription(
             Odometry,
             'robot_2/odom',
             r2_cb,
-            10
+            qos_profile=10
         )
 
         # Publishers for destinations
@@ -174,7 +174,8 @@ def r2_cb(msg):
         discovery_qos = QoSProfile(
             depth=1,
             durability=DurabilityPolicy.TRANSIENT_LOCAL,
-            history=HistoryPolicy.KEEP_LAST
+            history=HistoryPolicy.KEEP_LAST,
+            reliability=ReliabilityPolicy.RELIABLE,
         )
 
         discovery_pub = self.node.create_publisher(

diff --git a/path_server/rmf_plan_executor/src/main.rs b/path_server/rmf_plan_executor/src/main.rs
@@ -59,7 +59,7 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
         "/destination/discovery"
             .transient_local()
             .reliable()
-            .keep_all(),
+            .keep_last(10),
         move |executor: &mut PlanExecutor, msg: ParticipantList| {
             let (added, removed) = tracker.update(&msg);
             for robot_id in removed {
@@ -91,7 +91,7 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
                 let plan_topic = robot_id.to_string() + "/plan";
 
                 let odom_sub = match server.executor_worker.create_subscription::<Odometry, _>(
-                    odom_topic.as_str(),
+                    odom_topic.as_str().reliable(),
                     move |executor: &mut PlanExecutor, msg: Odometry| {
                         executor.handle_odometry(&robot_id_clone, msg);
                     },

diff --git a/reservation_system/rmf_reservation_tests/test/test_overlap.py b/reservation_system/rmf_reservation_tests/test/test_overlap.py
@@ -117,6 +117,7 @@ def test_overlapping_reservation(self):
             depth=1,
             durability=DurabilityPolicy.TRANSIENT_LOCAL,
             history=HistoryPolicy.KEEP_LAST,
+            reliability=ReliabilityPolicy.RELIABLE,
         )
         discovery_pub = self.node.create_publisher(
             ParticipantList,

diff --git a/reservation_system/rmf_reservation_tests/test/test_path_server.py b/reservation_system/rmf_reservation_tests/test/test_path_server.py
@@ -118,6 +118,7 @@ def test_plan_generation_and_publication(self):
             depth=1,
             durability=DurabilityPolicy.TRANSIENT_LOCAL,
             history=HistoryPolicy.KEEP_LAST,
+            reliability=ReliabilityPolicy.RELIABLE,
         )
         discovery_pub = self.node.create_publisher(
             ParticipantList,
@@ -142,7 +143,7 @@ def test_plan_generation_and_publication(self):
         odom = self.create_odom(0.0, 0.0)
 
         start_time = time.time()
-        timeout = 8.0
+        timeout = 15.0
         while time.time() - start_time < timeout:
             discovery_pub.publish(parts)
             dest_pub.publish(dest)

diff --git a/reservation_system/rmf_reservation_tests/test/test_queue.py b/reservation_system/rmf_reservation_tests/test/test_queue.py
@@ -78,6 +78,7 @@ def setUpClass(cls):
             depth=1,
             durability=DurabilityPolicy.TRANSIENT_LOCAL,
             history=HistoryPolicy.KEEP_LAST,
+            reliability=ReliabilityPolicy.RELIABLE,
         )
 
         cls.destinations = {name: [] for name in ROBOT_NAMES}

diff --git a/reservation_system/rmf_reservation_tests/test/test_reservation.py b/reservation_system/rmf_reservation_tests/test/test_reservation.py
@@ -105,6 +105,7 @@ def test_single_reservation(self):
             depth=1,
             durability=DurabilityPolicy.TRANSIENT_LOCAL,
             history=HistoryPolicy.KEEP_LAST,
+            reliability=ReliabilityPolicy.RELIABLE,
         )
         discovery_pub = self.node.create_publisher(
             ParticipantList,

diff --git a/reservation_system/rmf_reservation_tests/test/test_safe_sets.py b/reservation_system/rmf_reservation_tests/test/test_safe_sets.py
@@ -87,6 +87,7 @@ def setUpClass(cls):
             depth=1,
             durability=DurabilityPolicy.TRANSIENT_LOCAL,
             history=HistoryPolicy.KEEP_LAST,
+            reliability=ReliabilityPolicy.RELIABLE,
         )
 
         # Per-robot message buffers and publishers.

diff --git a/rmf_mock_robot_sim/rmf_mock_robot_sim/mock_robot_sim_node.py b/rmf_mock_robot_sim/rmf_mock_robot_sim/mock_robot_sim_node.py
@@ -81,7 +81,8 @@ def __init__(self):
         discovery_qos = QoSProfile(
             depth=1,
             durability=DurabilityPolicy.TRANSIENT_LOCAL,
-            history=HistoryPolicy.KEEP_LAST
+            history=HistoryPolicy.KEEP_LAST,
+            reliability=ReliabilityPolicy.RELIABLE,
         )
 
         reliable_transient_qos = QoSProfile(
@@ -95,7 +96,7 @@ def __init__(self):
         self.odom_pub = self.create_publisher(
             Odometry,
             f'{self.robot_name}/odom',
-            qos_profile=reliable_transient_qos
+            qos_profile=10
         )
 
         self.progress_pub = self.create_publisher(

diff --git a/rmf_participant_discovery/src/lib.rs b/rmf_participant_discovery/src/lib.rs
@@ -83,7 +83,7 @@ where
 {
     let mut tracker = ParticipantTracker::new();
     worker.create_subscription::<ParticipantList, _>(
-        topic.transient_local().reliable().keep_all(),
+        topic.transient_local().reliable().keep_last(10),
         move |server: &mut T, msg: ParticipantList| {
             let (added, removed) = tracker.update(&msg);