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OpenDDS / rmw_opendds

ROS-2 support for OpenDDS
Apache License 2.0
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Looks at DDS Guid_t/InstanceHandle_t conversion #2

Open jwillemsen opened 5 years ago

jwillemsen commented 5 years ago

The other rmw implementations use built in discovery to cache data related to participant/topic based on DDS::Guid_t, need to check how this should be done with OpenDDS

adamsj-ros commented 4 years ago

@mitza-oci, @kuznetsovmoci, and @lij-oci, Do we need to address this issue?

mitza-oci commented 4 years ago

Would someone please add a link to the line(s) of code impacted?

jwillemsen commented 4 years ago

Within the rmw_connext this is done in https://github.com/ros2/rmw_connext/blob/7781a5e5982032be9460840e33646028af21129e/rmw_connext_shared_cpp/include/rmw_connext_shared_cpp/guid_helper.hpp#L63, within that implementation I found caching based on DDS_Guid_t instead of using DDS_InstanceHandle_t

jwillemsen commented 4 years ago

See also https://github.com/ros2/rmw_connext/issues/326

mitza-oci commented 4 years ago

In this repository, looks like the TopicCache was changed to use InstanceHandle_t. What else, if anything, needs to be done (in this repository) to implement the required RMW functions?