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ros2 / rmw_zenoh

RMW for ROS 2 using Zenoh as the middleware
Apache License 2.0
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Update the design document #108

Closed clalancette closed 7 months ago

clalancette commented 7 months ago

This PR does a large rewrite of the design document, adding in a lot more detail about how rmw_zenoh_cpp conforms to the RMW interface.

I'll note that this document isn't complete; in particular, the section on how Events works is incomplete (until we get #103 in), and the section on Security is completely empty. Nevertheless, I think it expand quite a bit on what we currently have and will give users some idea on the choices we made and why.

clalancette commented 7 months ago

@Yadunund I've responded to most of your feedback now. There are a couple of pieces of information that I don't have, so I didn't update those. If you can take another look, that would be appreciated.