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ros2 / domain_bridge

Bridge communication across different ROS 2 domains.
Apache License 2.0
52 stars 12 forks source link

Add domain bridge library #1

Closed jacobperron closed 3 years ago

jacobperron commented 3 years ago

This is an initial implementation that supports bridging arbitrary topics across ROS 2 domains. The generic publisher and generic subscription are directly copied from rosbag2, but I'd like to switch to a common implementation once it is ready (see https://github.com/ros2/rclcpp/pull/1452).

I've also included a README with aspirational usage and a design doc.

This PR does not include some core features that I'd like to add in follow-up PRs:

jacobperron commented 3 years ago

cc @mallanmba

jacobperron commented 3 years ago

I want to write some unit tests for this, but I'll add them in a separate PR for easier review.

jacobperron commented 3 years ago

@ivanpauno I think I've addressed all your comments. Please take another look :bow:

@mjeronimo It would be great if you could take a look over the design document before I continue as well :slightly_smiling_face:

jacobperron commented 3 years ago

@ivanpauno @mjeronimo Thanks for the reviews :bow: I think I've address most comments. I've got a local list of follow-ups that I'll chip away at based on feedback so far. I'm going to merge this, but I'm happy to address any more comments in follow-up PRs.