Fix test_security tests using rmw_connextdds by disabling Monitoring 2.0

[fgallegosalido]

Description

With the enabling of the Monitoring 2.0 Library in rolling (see ros2/rmw_connextdds#243), security tests are failing because the Monitoring Participant must be secured if other Participants are also secured.

To fix these tests, we explicitly disable Monitoring 2.0 through the environment variable RTI_MONITORING2_ENABLE.

Is this user-facing behavior change?

Tests in test_security using the rmw_connextdds will now pass again.

Did you use Generative AI?

No

Additional Information

Monitoring is specific to the Connext RMW. We don't need to test for it in system_tests.

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[fgallegosalido]

@fujitatomoya can you launch a validation?

[jmachowinski]

@fgallegosalido can you fix the DCO ?

[jmachowinski]

Pulls: #596
Gist: https://gist.githubusercontent.com/jmachowinski/6525b134911182ee8bf63e33af6e9635/raw/13437f4a0c796af0eca8b8f59e5b918d33cad8fa/ros2.repos
BUILD args:
TEST args:
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19707

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[fgallegosalido]

@jmachowinski Sorry, I forgot to sign off the commit. I will wait for the CI to pass and open a new pr with the commit correctly signed. Is there any other way of doing it?

In any case, I'll try doing what the action says and see how it goes

[fgallegosalido]

@jmachowinski I think it is fixed. Let me know if this works.

[jmachowinski]

@fgallegosalido

Looks good, now we just wait for CI ;-)

As the commit is identical the CI job is valid in any case.

[fgallegosalido]

@jmachowinski @fujitatomoya the Linux failure is not related to the Connext RMW. The Windows build is interesting, as it seems to have marked as failures tests that passed. Is that expected?

[jmachowinski]

No, this looks like a infrastructure issue, I'll ping the infra team.

[jmachowinski]

I just realized I ran the CI with the wrong parameters. Almost all test ran using FastDDS...

[jmachowinski]

Pulls: #596
Gist: https://gist.githubusercontent.com/jmachowinski/0f922e6ee0631440fa36815351a94ee9/raw/13437f4a0c796af0eca8b8f59e5b918d33cad8fa/ros2.repos
BUILD args: --cmake-args -DRMW_IMPLEMENTATION=rmw_connextdds
TEST args:
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/19723

• Linux
• Linux-aarch64
• Linux-rhel
• Windows

[fgallegosalido]

@jmachowinski the package gz_math_vendor couldn't be built. It seems the machine run out of memory.