Use correct service mapping based on `RMW_IMPLEMENTATION` and ROS distro

dora-rs / dora

DORA (Dataflow-Oriented Robotic Architecture) 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.

https://dora-rs.ai

Apache License 2.0

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Use correct service mapping based on `RMW_IMPLEMENTATION` and ROS distro #452

Open phil-opp opened 6 months ago

phil-opp commented 6 months ago

Cyclone DDS uses a different topic mapping for services. Cyclone is the standard middleware in galactic.

Fixes https://github.com/dora-rs/dora/issues/449

phil-opp commented 6 months ago

I did some tests on humble using RMW_IMPLEMENTATION=rmw_cyclonedds_cpp. The requests are received correctly by the service server, but the responses never reach the client for some reason.

phil-opp commented 6 months ago

Apparently the Cyclone mapping of the the ros2-client crate was only tested against ROS2 galactic, so it might not be compatible with humble.