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OpenDDS / rmw_opendds

ROS-2 support for OpenDDS
Apache License 2.0
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Interop fixes pub/sub #51

Closed adamsj-ros closed 4 years ago

adamsj-ros commented 4 years ago

It's been observed that other DDS/RTPS RMW implementations are using 20 bytes to transmit our base test while our OpenDDS RMW is using 64 bytes. At least one part of the interop issues are to match the serialization for user payload between OpenDDS RMW and FastRTPS/Cyclone.

adamsj-ros commented 4 years ago

Will it make it incompatible with RTI?

I'm not sure. I'm more concerned that it's compatible with the default RMW -- eProsima's FastRTPS. It's compatible with FastRTPS and CycloneDDS. If RTI doesn't work with FastRTPS and Cyclone then I think there are other issues.

Keep in mind this is only for pub/sub. I checked RPC and there are big issues with FastRTPS but FastRTPS apparently has big issues with Cyclone too for RPC. We are close to compatible with Cyclone in RPC but that's not the scope of this PR.