rmw_dds_common Features

This package includes:

• A generic GraphCache to track DDS entities such as participants and data readers and writers, plus ROS nodes as an additional abstraction for any DDS based rmw implementation to use

• Common messages to communicate ROS nodes discovery information:

  • rmw_dds_common/msg/Gid

  • rmw_dds_common/msg/NodeEntitiesInfo

  • rmw_dds_common/msg/ParticipantEntitiesInfo

• Some useful data types and utilities:

  • A generic Context type to withhold most state needed to implement ROS nodes discovery

  • Comparison utilities and some C++ operator overloads for rmw_gid_t instances

  • Conversion utilities between rmw_dds_common/msg/Gid messages and rmw_gid_t instances

  • A function for checking the compatibility of two QoS profiles, qos_profile_check_compatible