I wanted to use MicroROS without any custom transport or RMW. Is it possible to bypass the RMW and use only the publish-subscribe?

micro-ROS / rmw_microxrcedds

RMW implementation using Micro XRCE-DDS middleware.

Apache License 2.0

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I wanted to use MicroROS without any custom transport or RMW. Is it possible to bypass the RMW and use only the publish-subscribe? #266

Closed NagaHimanshu closed 1 year ago

pablogs9 commented 1 year ago

Please elaborate on your issue, requirements and goals.

NagaHimanshu commented 1 year ago

I wanted to develop a basic publish-subscribe model using MicroROS without any UART/TCP/UDP. I'd like to open two threads using FreeRTOS, one thread for publish and another thread for subscribe. For this I created a dummy transport which just fills up memory. I attached a piece of code below. So, is it possible to having this kind of scenario?

New Text Document.txt

pablogs9 commented 1 year ago

You can explore the shared memory in Micro XRCE-DDS Client: https://github.com/eProsima/Micro-XRCE-DDS-Client/blob/6f4edd25c0984fd30bf3bf84e2d1d33af03f24a1/CMakeLists.txt#L68

NagaHimanshu commented 1 year ago

Thank you so much for the suggestion. It is working as per my requirement. Thanks again.