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tocinc / rmw_coredx

CoreDX DDS integration layer for ROS2
Apache License 2.0
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Service topic names not supporting standard #24

Open ghost opened 6 years ago

ghost commented 6 years ago

Services are not interoperating with other middlewares (fastrtps) because there are underscores being inserted before Reply and Request. See the screenshot below from dds spy. The top domain participant is coredx and the bottom one is fastrtps

screenshot from 2018-07-31 09-57-19

ghost commented 5 years ago

the topic names now seem to match, but coredx still isn't talking to fastrtps for services in bouncy. Maybe it has something to do with the type name and data type fields being fully qualified on fastrtps, but not on coredx. I've captured screenshots from coredx spy with what should be service requests of the same type.

FastRTPS

screenshot from 2018-10-10 15-05-29

CoreDX

screenshot from 2018-10-10 15-05-45

ClarkTucker commented 5 years ago

CoreDX DDS and FastRTPS don't seem to use the same data structure for the service request and response data types. The CoreDX DDS implementation uses the RPC over DDS defined mapping. FastRTPS does not exchange 'type information' in the discovery messages, so I can't be sure, but by looking at the DATA messages, it appears that FastRTPS does not.

ghost commented 5 years ago

Would it be possible to update rmw_coredx so that the service interop works?

ClarkTucker commented 5 years ago

I'll take a look...