Add acceptable_buffer_backends field in rmw_subscription_options_s#416
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Add acceptable_buffer_backends field in rmw_subscription_options_s#416
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Signed-off-by: CY Chen <cyc@nvidia.com>
nvcyc
requested review from
MiguelCompany,
ahcorde,
hidmic,
karsten-nvidia,
mjcarroll,
skyegalaxy and
tfoote
This was referenced Mar 16, 2026
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Description
This pull request adds the
acceptable_buffer_backendssubscription option in RMW layer. This option allows subscribers to control which buffer backends they accept, with a backward-compatible default of CPU-only.This pull request consists of the following key changes:
rmw(types.h): Adds a new fieldacceptable_buffer_backends(const char *) onrmw_subscription_options_t.NULL, empty string, or"cpu"means CPU-only (backward-compatible default);"any"means all installed backends; comma-separated names (e.g."cuda,demo") restrict to those specific backends.rmw_get_default_subscription_options()sets the default to"cpu".Is this user-facing behavior change?
The default value
"cpu"preserves existing behavior -- subscriptions only accept CPU-based data unless explicitly opting in. This is a new API surface but is additive and backward-compatible. Existing code that does not passacceptable_buffer_backendswill behave identically to before.Did you use Generative AI?
No.
Additional Information
This PR is part of the broader ROS 2 native buffer feature introduced in this post.