DORA (Dataflow-Oriented Robotic Application) is middleware designed to streamline and simplify the creation of AI-based robotic applications. It offers low latency, composable, and distributed dataflow capabilities. Applications are modeled as directed graphs, also referred to as pipelines.
Allows creating ROS2 service clients in C++ nodes using our dora-ros2-bridge.
Builds upon #439
Usage
init_ros2_context()
ros2_context->new_node
node->create_client_*
functions. For example, to create a client to the add_two_ints service:The
merged_events
argument is the combined event stream that should receive the response data.add_two_ints->wait_for_service(node)
add_two_ints->send_request(request)
. The responses will be sent to the combined event stream.matches
anddowncast
functions: