Add rclcpp_generic, a publisher and subscription for serialized messages#1452
Merged
jacobperron merged 43 commits intoros2:masterfrom Apr 3, 2021
Merged
Add rclcpp_generic, a publisher and subscription for serialized messages#1452jacobperron merged 43 commits intoros2:masterfrom
jacobperron merged 43 commits intoros2:masterfrom
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What this is
This is a modified version of
GenericPublisherandGenericSubscriptionfrom therosbag2repo with the goal of serving as a basis for the port oftopic_toolsto ROS2 (androsbag2in the future as well as other libraries). See ros2/ros2#857 for more detail.What was modified
I made the pub/sub standalone since I don't want to force the user to inherit from some node, meaning it now stores a library and can be created just from the topic name and type name.
Reviewer notes
I know this is a very large PR. If you prefer, I'm happy to split it into several smaller ones – but it's actually only a moderate (okay, still large-ish) diff from the rosbag2 sources, as you can see by looking at the second commit.
I don't have all the context of the original source code, and I'll highlight the things that I am uncertain about in comments. It's one of my first contributions here, so please don't hesitate to let me know if I'm not following best practices or the design is awkward.
I didn't sign-off the first commit as the contributing guidelines demand – I don't know what to do with it since it isn't really from me. What do you recommend?