rmw_implementation

介绍

rmw_implementation节点

ROS 2 中间件接口的代理实现，将调用转发到所选（和动态加载）的“rmw”实现。“RMW_IMPLEMENTATION”环境变量（如果设置）允许用户选择一个可用的“rmw”实现。 否则，将使用默认的“rmw”实现。请参阅“rmw_implementation_cmake”程序包以了解此默认值。

软件架构

软件架构说明

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

文件内容:

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

安装教程

1. 下载rpm包

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. 安装rpm包

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

使用说明

依赖环境安装:

sh /opt/ros/foxy/install_dependence.sh

安装完成以后，在/opt/ros/foxy/目录下如下输出,则表示安装成功。

输出:

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

参与贡献

1. Fork 本仓库
2. 新建 Feat_xxx 分支
3. 提交代码
4. 新建 Pull Request

特技

1. 使用 Readme_XXX.md 来支持不同的语言，例如 Readme_en.md, Readme_zh.md
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