Discussion on future of `iceoryx_ros2_bridge`

[mossmaurice]

@budrus and myself were discussing the iceoryx_ros2_bridge today. We came to the conclusion that it's most likely not needed anymore because if one wants to interface with DDS there are two other options which are now available:

1) Use rmw_cyclonedds and activate shared memory transmission via iceoryx 2) Use the rmw_iceoryx and run the Cyclone DDS gateway/bridge

@ZhenshengLee Would that fit the use-case of Bright Dream Robotics?

@Karsten1987 @jeising @JanStaschulat What do you think? Would that be ok from Bosch-side?

[ZhenshengLee]

@mossmaurice I think iceoryx_ros2_bridge is designed for connecting rmw_iceoryx based nodes to another nodes with any dds implementation, that means it should work in the layer of rmw rather than one of ddses.

• Use rmw_cyclonedds and activate shared memory transmission via iceoryx
• Use the rmw_iceoryx and run the Cyclone DDS gateway/bridge

These two methods do the work of iceoryx_cyclonedds_bridge.

Currently iceoryx_fastdds_bridge is needed to connect rmw_iceoryx to microROS, which is based on rmw_microxrcedds.

Zenoh project has a plan to replace microxrcedds in microROS because it can be deployed in resource-constrained devices like microcontroller, see ros discource, but as https://github.com/eclipse-zenoh/zenoh/issues/118 said, zenoh will not replace microxrcedds in the context of serial link.

[ZhenshengLee]

@mossmaurice

Currently iceoryx_fastdds_bridge is needed to connect rmw_iceoryx to microROS, which is based on rmw_microxrcedds.

According to https://github.com/eclipse-iceoryx/iceoryx/pull/444 FastDDS gateway/bridge is on its way.

I believe more dds will be added too.

2. Use the rmw_iceoryx and run the Cyclone DDS gateway/bridge

So this method may work in cases of my company, iceoryx_ros2_bridge shall be deleted.

Thanks.

[ZhenshengLee]

According to eclipse-iceoryx/iceoryx#444 FastDDS gateway/bridge is on its way.

AFAK, this commit eclipse-iceoryx/iceoryx#444 has been abort.