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.
In this PR, the implementation of the ros2-bridge action interface and the process of generating C code through cxx are mainly completed.
This is just a communication method for action in ros2-bridge. I don’t know whether it can be used normally.
About this implementation, I think there are some problems:
In the process of using the ros2-client library to implement action, due to some interfaces, the entire processing logic can only be placed in one function, so it will contain some asynchronous operations.
But I personally think this is not a reasonable implementation. When some functions are integrated into one function, if the user encounters problems in the process of using the c++ api action, debugging will be very difficult.
In this PR, the implementation of the
ros2-bridge actioninterface and the process of generating C code throughcxxare mainly completed. This is just a communication method foractioninros2-bridge. I don’t know whether it can be used normally.About this implementation, I think there are some problems: In the process of using the
ros2-clientlibrary to implement action, due to some interfaces, the entire processing logic can only be placed in one function, so it will contain some asynchronous operations. But I personally think this is not a reasonable implementation. When some functions are integrated into one function, if the user encounters problems in the process of using thec++ api action, debugging will be very difficult.536