Support topic instances

ros2 / rmw_fastrtps

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

Apache License 2.0

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Open MiguelCompany opened 7 months ago

MiguelCompany commented 7 months ago

This PR adds the necessary code to support topic instances in rmw_fastrtps_cpp and rmw_fastrtps_dynamic_cpp

Part of ros2/ros2#1538:
- Depends on ros2/rosidl#796
- Depends on ros2/rosidl_typesupport_fastrtps#116

MiguelCompany commented 2 weeks ago

this needs to be reviewed by someone from eProsima or other maintainers who know this area...

So the changes have been made by @Mario-DL, and I have reviewed them here