Update to a replace and reuse entities creation (backport #143)

[mergify[bot]]

This is an automatic backport of pull request #143 done by Mergify.

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[github-actions[bot]]

Static memory analysis

Default configuration

MTU: 512 B Input buffer size: 2048 B Input history: 4 Output buffer size: 2048 B Output history: 4

Entity	Qty	Size per unit
Context	1	5584 B
Topic	12	56 B
Service	4	80 B
Client	4	72 B
Subscription	4	168 B
Publisher	8	184 B
Node	4	56 B
Static input buffer	8	2120 B

TOTAL: 25020 B

[kalaajiahmad]

Hello @pablogs9 is this already part of micro_ros_arduino? i couldn't confirm. If that's the case how can i set this RMW_PARAM config to REUSE instead of REPLACE, i tried adding RMW_UXRCE_CREATION_MODE but it doesn't look like it's available to set Or is this so old and the interface changed

[pablogs9]

Hello @kalaajiahmad, yes, now by default all entities are created in UXR_REPLACE | UXR_REUSE.

Your requirement is to use a bare UXR_REPLACE? By now it is not configurable the default mode, why do you need to configure it?

[kalaajiahmad]

Hope you're doing well @pablogs9 Oh ok understood, i thought it was by default UXR_REPLACE. No actually i wanted it to be REUSE so that i don't force entity creation from scratch for every re-connection :) But in that case it will behave according to what is already created based on the client_key correct? Then i am happy :)

Again thanks for your time 👍🏻

[pablogs9]

Yes, just ensure that you always use the same client key, and entities will be reused.