Feature: add support to FastRTPS 2.0.0 (Fast-DDS) #15227
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
jkflying
approved these changes
Jun 29, 2020
|
Thanks @jkflying! |
Closed
|
@TSC21 Can you describe the ROS 2 Foxy capabilities a bit more? Is this for monitoring flight data, or could it be used for flight controls and navigation (one or two way communication)? Thanks! |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
This adds support to FastRTPS release v2.0.0, or the new called FastDDS. The changes on the RTPS API are minimal, and so this allows a simple port. Further iterations on the bridge might consider the complete support for DDS features and API, or simply explore the usage of Micro-XRCE DDS, which shares also some common API on the client proxy/agent side.
As an extra, this also allows bridging with ROS 2 Foxy.
Functionality tested with PX4 SITL and Gazebo. All working as expected.