rmwddscommon 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