Adds content-filtering to the Subscription class - Githubissues

RobotWebTools / rclnodejs

Node.js version of ROS 2.0 client

https://docs.ros.org/en/humble/Concepts/Basic/About-Client-Libraries.html?highlight=rclnodejs#community-maintained

Apache License 2.0

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Adds content-filtering to the Subscription class #898

Closed wayneparrott closed 1 year ago

wayneparrott commented 1 year ago

ROS Humble introduced the content-filtering topics feature. This PR makes makes this feature available to rclnodejs developers.

Resources DDS 1.4 specification, Annex B Content-filtering tutorial https://github.com/ros2/design/pull/282

Supported RMWs Content-filtering is supported by the following RMWs as of the Humble release:

rmw_fastrtps - default Humble RMW
rmw_connext
rmw_gurumdds_cpp

rmw_cyclonedds_cpp does NOT support content-filtering yet.

Key Changes node.js

added contentFilter object to Options, {expression: string, parameters?: Array}
added static getDefaultOptions()
updated createSubscription() to support contentFilter

node.d.ts

added content-filter types

rcl_bindings.cpp

added content-filtering to CreateSubscription()

rmw.js

new class for identifying the current ROS middleware

test-subscription-content-filter.js

test cases for content-filters

examples

publisher-content-filtering-example.js
subscription-content-filtering-example.js

package.json

added build/rebuild scripts for developer convenience

wayneparrott commented 1 year ago

I discovered that I omitted an additional api for resetting a subscription content-filter. Please hold off reviewing. I will reopen this PR once I've implemented that feature.