use rmw_enclave_options_xxx APIs instead.

[fujitatomoya]

depends on ros2/rmw#393

related to ros2/rmw#390 and micro-ROS/rmw_microxrcedds#311

[fujitatomoya]

@Yadunund can you take a look?

[fujitatomoya]

@Yadunund i would like to request some help here.

since ros2/rmw#393 is merged, i tried to test this PR with that rmw change. but many tests are failing (for example, test_rmw_implementation and so on) and i am not sure how to proceed the test... could you give me some info how i test rmw_zenoh at this moment? (localtest only for rmw_zenoh are passing though.)

[Yadunund]

LGTM! Thanks for updating the implementation here.

Unfortunately we still cannot run a ci job from ci.ros2.org with rmw_zenoh just yet.

For now i'd recommend importing packages using the ros2.repos file from ros2/ros2#1649, switching the rmw_zenoh branch to fujitatomoya/rmw_options_enclave and running

colcon test --packages-select rcl rcl_lifecycle rcl_action test_comunication test_rclcpp test_quality_or_service rclcpp rclcpp_components rclcpp_lifecycle rclcpp_action rclpy  --event-handlers console_direct+

There should be no test failures from the above.

If running colcon test on the entire ROS 2 workspace, we can expect to see failures reported in #493.

[Yadunund]

I ran CI locally and no new regressions so i'll go ahead and merge this.

Note: We won't be backporting this to jazzy/humble.

[fujitatomoya]

@Yadunund thanks, i will do this for next time if rmw_zenoh needs to be modified.