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Fix rmw_fastrtps SHM crash on Windows with secured large messages (Issue #561) #605

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Fix rmw_fastrtps SHM crash on Windows with secured large messages (Issue #561) #605

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11 changes: 11 additions & 0 deletions test_security/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,17 @@ if(BUILD_TESTING)
set(TEST_PUBLISHER_EXECUTABLE "$<TARGET_FILE:test_secure_publisher_cpp>")
set(TEST_SUBSCRIBER_EXECUTABLE "$<TARGET_FILE:test_secure_subscriber_cpp>")

# On Windows, FastDDS SHM transport causes an Access Violation (exit code 0xC0000005)
# when sending large secured messages (e.g. UnboundedSequences). Inject a FastDDS XML
# profile that forces UDPv4 transport to prevent the crash. Empty on non-Windows
# platforms so no behaviour change occurs there. (Issue #561)
set(FASTDDS_PROFILES_FILE "")
if(WIN32)
file(TO_NATIVE_PATH

@fujitatomoya fujitatomoya Sep 2, 2026

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does this generate the backslashes? and eventually FASTRTPS_DEFAULT_PROFILES_FILE points at a garbage path and FastDDS silently keeps using SHM?

"${CMAKE_CURRENT_SOURCE_DIR}/test/test_security_files/fastdds_no_shm.xml"
FASTDDS_PROFILES_FILE)
endif()

# Test suite for communication without security
set(non_secure_comm_PUBLISHER_ROS_SECURITY_ENABLE_LIST "false;false;false;true;false")
set(non_secure_comm_SUBSCRIBER_ROS_SECURITY_ENABLE_LIST "false;false;false;false;true")
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12 changes: 12 additions & 0 deletions test_security/test/test_secure_publisher_subscriber.py.in
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Expand Up @@ -47,6 +47,13 @@ def generate_test_description():
publisher_env['ROS_SECURITY_KEYSTORE'] = '@PUBLISHER_ROS_SECURITY_KEYSTORE@'
if '@PUBLISHER_RMW@' == 'rmw_connextdds':
publisher_env['RTI_MONITORING2_ENABLE'] = 'false'
# On Windows, FastDDS SHM transport causes an Access Violation (0xC0000005) when
# sending large messages (e.g. UnboundedSequences) with security enabled.
# Force UDPv4 transport via a FastDDS XML profile to prevent the crash. (Issue #561)
if '@PUBLISHER_RMW@' in ('rmw_fastrtps_cpp', 'rmw_fastrtps_dynamic_cpp'):
if '@FASTDDS_PROFILES_FILE@':
publisher_env['FASTRTPS_DEFAULT_PROFILES_FILE'] = '@FASTDDS_PROFILES_FILE@'
publisher_env['RMW_FASTRTPS_USE_QOS_FROM_XML'] = '1'

launch_description.add_action(ExecuteProcess(
cmd=publisher_cmd,
Expand All @@ -61,6 +68,11 @@ def generate_test_description():
subscriber_env['ROS_SECURITY_KEYSTORE'] = '@SUBSCRIBER_ROS_SECURITY_KEYSTORE@'
if '@SUBSCRIBER_RMW@' == 'rmw_connextdds':
subscriber_env['RTI_MONITORING2_ENABLE'] = 'false'
# See publisher comment above. (Issue #561)
if '@SUBSCRIBER_RMW@' in ('rmw_fastrtps_cpp', 'rmw_fastrtps_dynamic_cpp'):
if '@FASTDDS_PROFILES_FILE@':
subscriber_env['FASTRTPS_DEFAULT_PROFILES_FILE'] = '@FASTDDS_PROFILES_FILE@'
subscriber_env['RMW_FASTRTPS_USE_QOS_FROM_XML'] = '1'

subscriber_process = ExecuteProcess(
cmd=subscriber_cmd,
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33 changes: 33 additions & 0 deletions test_security/test/test_security_files/fastdds_no_shm.xml
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@@ -0,0 +1,33 @@
<?xml version="1.0" encoding="utf-8"?>

@fujitatomoya fujitatomoya Sep 2, 2026

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do we even need this configuration xml file at all? FASTDDS_BUILTIN_TRANSPORTS=UDPv4 does the same work instead? if it does, it can be much simpler though.

<!--
FastDDS transport profile used by test_secure_publisher_subscriber tests on Windows.

On Windows, FastDDS uses Shared Memory (SHM) transport by default for intra-host
communication. When DDS-Security is enabled, the security overhead can cause the SHM
segment to overflow when sending large messages (e.g. UnboundedSequences), resulting
in an Access Violation crash (exit code 0xC0000005) in the publisher process.

This profile disables SHM and falls back to UDPv4 with enlarged send/receive buffers
to accommodate the security-layer overhead on large messages.

See: https://github.com/ros2/system_tests/issues/561
-->
<profiles xmlns="http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles">
<transport_descriptors>
<transport_descriptor>
<transport_id>udpv4_security</transport_id>
<type>UDPv4</type>
<sendBufferSize>1048576</sendBufferSize>
<receiveBufferSize>1048576</receiveBufferSize>
</transport_descriptor>
</transport_descriptors>

<participant profile_name="default_participant_profile" is_default_profile="true">
<rtps>
<userTransports>
<transport_id>udpv4_security</transport_id>
</userTransports>
<useBuiltinTransports>false</useBuiltinTransports>
</rtps>
</participant>
</profiles>