rmw_implementation

Description

The rmw_implementation node

CMake infrastructure and dependencies for rmw implementations

Proxy implementation of the ROS 2 Middleware Interface, forwarding calls to the chosen (and dynamically loaded) rmw implementation. RMW_IMPLEMENTATION environment variable, if set, allows the user to select one of the available rmw implementations. Otherwise, the default rmw implementation will be used. Refer to rmw_implementation_cmake package to learn about this default.

Software Architecture

Software architecture description

https://github.com/ros2/rmw_implementation.git

input:

rmw_implementation/
├── CONTRIBUTING.md
├── LICENSE
├── rmw_implementation
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── package.xml
│   ├── QUALITY_DECLARATION.md
│   ├── README.md
│   ├── rmw_implementation-extras.cmake.in
│   ├── src
│   │   ├── functions.cpp
│   │   ├── functions.hpp
│   │   └── visibility_control.h
│   └── test
│       ├── benchmark
│       └── test_functions.cpp
└── test_rmw_implementation
    ├── CHANGELOG.rst
    ├── CMakeLists.txt
    ├── package.xml
    └── test
        ├── allocator_testing_utils.h
        ├── config.hpp
        ├── test_client.cpp
        ├── test_create_destroy_node.cpp
        ├── test_graph_api.cpp
        ├── testing_macros.hpp
        ├── test_init_options.cpp
        ├── test_init_shutdown.cpp
        ├── test_publisher_allocator.cpp
        ├── test_publisher.cpp
        ├── test_serialize_deserialize.cpp
        ├── test_service.cpp
        ├── test_subscription_allocator.cpp
        ├── test_subscription.cpp
        ├── test_unique_identifiers.cpp
        └── test_wait_set.cpp

Installation

1. Download RPM

aarch64:

wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/rmw_implementation/ros-foxy-ros-rmw_implementation-1.0.2-2.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/rmw_implementation/ros-foxy-ros-rmw_implementation-1.0.2-2.oe2203.x86_64.rpm

2. Install RPM

aarch64:

sudo rpm -ivh --nodeps --force ros-foxy-ros-rmw_implementation-1.0.2-2.oe2203.aarch64.rpm

x86_64:

sudo rpm -ivh --nodeps --force ros-foxy-ros-rmw_implementation-1.0.2-2.oe2203.x86_64.rpm

Instructions

Dependence installation:

sh /opt/ros/foxy/install_dependence.sh

Exit the following output file under the /opt/ros/foxy/ directory,Prove that the software installation is successful.

output:

rmw_implementation
├── lib
│   └── librmw_implementation.so
└── share
    ├── ament_index
    │   └── resource_index
    ├── colcon-core
    │   └── packages
    └── rmw_implementation
        ├── cmake
        ├── environment
        ├── hook
        ├── local_setup.bash
        ├── local_setup.dsv
        ├── local_setup.sh
        ├── local_setup.zsh
        ├── package.bash
        ├── package.dsv
        ├── package.ps1
        ├── package.sh
        ├── package.xml
        └── package.zsh
rmw_implementation_cmake
└── share
    ├── ament_index
    │   └── resource_index
    ├── colcon-core
    │   └── packages
    └── rmw_implementation_cmake
        ├── cmake
        ├── environment
        ├── hook
        ├── local_setup.bash
        ├── local_setup.dsv
        ├── local_setup.sh
        ├── local_setup.zsh
        ├── package.bash
        ├── package.dsv
        ├── package.ps1
        ├── package.sh
        ├── package.xml
        └── package.zsh

Contribution

1. Fork the repository
2. Create Feat_xxx branch
3. Commit your code
4. Create Pull Request

Gitee Feature

1. You can use Readme_XXX.md to support different languages, such as Readme_en.md, Readme_zh.md
2. Gitee blog blog.gitee.com
3. Explore open source project https://gitee.com/explore
4. The most valuable open source project GVP
5. The manual of Gitee https://gitee.com/help
6. The most popular members https://gitee.com/gitee-stars/