rmw_dds_common

Package with a common implementation of Node discovery for all DDS based rmw implementations, including:

• 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

Quality Declaration

This package claims to be in the Quality Level 4 category, see the Quality Declaration for more details.