ros2 / rmw

The ROS Middleware (rmw) Interface.

Apache License 2.0

95 stars 67 forks source link

Runtime Interface Reflection: rmw #340

Closed methylDragon closed 1 year ago

methylDragon commented 1 year ago

This PR is part of the runtime interface reflection subscription feature of REP-2011: https://github.com/ros2/ros2/issues/1374

Description

This PR includes changes to the RMW APIs for supporting runtime interface reflection, namely.

Introducing a new rmw agnostic typesupport rosidl_message_type_support_t

With also new interfaces for:

Taking and handling runtime type messages (dynamic data)
Using the serialization support library