ros2 / rmw_fastrtps

Implementation of the ROS Middleware (rmw) Interface using eProsima's Fast RTPS.

Apache License 2.0

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Runtime Interface Reflection: rmw_fastrtps #655

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 implementation of the new rmw APIs for supporting runtime interface reflection:

Getting serialization support
Converting from serialized data to dynamic data
rmw_features labels

It also includes:

Utilities for type name mangling
An alternate FastDDS subscriber creation pathway supporting runtime types
- (There's quite a bit of code duplication here, I'm not sure what the best approach is for whittling it down)

TODO:

Implement take_dynamic_data