This is an rmw wrapper for the Hazcat zero-copy middleware. More information on the project can be found in that repository.
To install from source, add rmw_hazcat and hazcat into your ROS2 workspace
cd ~/ros2_ws/src/ros2
git clone git@github.com:nightduck/rmw_hazcat.git
cd ../
git clone git@github.com:nightduck/hazcat.gitInstall dependencies and build the workspace as usual
cd ~/ros2_ws
rosdep udpate
rosdep install --from-paths src --ignore-src --rosdistro LATEST_ROS_VERSION -y
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFFrmw_hazcat is still extremely experimental. Below are the features currently supported.
| ROS 2 command/feature | Status |
|---|---|
ros2 run |
:heavy_check_mark: |
ros2 topic list |
:x: |
ros2 topic echo |
:x: |
ros2 topic type |
:x: |
ros2 topic info |
:x: |
ros2 topic hz |
:x: |
ros2 topic bw |
:x: |
ros2 node list |
:x: |
ros2 node info |
:x: |
ros2 interface * |
:x: |
ros2 service * |
:x: |
ros2 param list |
:x: |
ros2 bag |
:x: |
| RMW Pub/Sub Events | :x: |