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ros2 / domain_bridge

Bridge communication across different ROS 2 domains.
Apache License 2.0
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Dynamically configure service bridges from YAML #54

Open jacobperron opened 3 years ago

jacobperron commented 3 years ago

Follow up to #10.

We can now bridge services, but it requires manually configuration due to needed typesupport information at compile-time. In order to support bridging services dynamically, we need better support at the RMW layer for generic services.

antonyramsy commented 2 years ago

is service support added to domain_bridge yet? I used domain bridge with the example YAML file from design_document to test services and actions. but it seems service and action don't work. I see lots of code related to service and action support in the repo but can't figure out what's wrong. also, there are no warnings, errors, or any kind of log to report. any help and clearance of the issue would be appreciated

jacobperron commented 2 years ago

Services are supported if you configure the domain bridge in code (not YAML, which is why this issue exists). Unfortunately, we don't have a good example of bridging services, though if someone would like to contribute one that might be nice :)

Here the example currently living on a fork that we used to test #26: https://github.com/ivanpauno/domain_bridge/commit/d82984cc3bcd09ec65dd3afe180158c7ff080031

antonyramsy commented 2 years ago

@jacobperron unfortunately I'm not good at CPP . so I can't contribute much. thanks for the help anyways. But I may try to bridge services according to the example.