Question: Dynamic types with module/namespace

[AlgoryxJosef]

Is there an already existing issue for this?

• I have searched the existing issues

Expected behavior

I'm trying to achieve a message type e.g. std_msgs::msg::dds_::Float32_ where the Float32_ is a struct.
I can do this when generating from an .idl using the module tag:

module std_msgs
{
   module msg
   {
      module dds_
      {
         struct Float32_
         {
            float data;
         };
       }
     }
 }

Works great (and yes, it is for talking to a ROS2 node).

I would like to get the same thing but for Dynamic Types. I know the module keyword is not implemented in the .xml dynamic type schema.

The closest I've come is to do:

<types>
    <type>
        <struct name="std_msgs::msg::dds_::Float32_">
            <member name="data" type="float32"/>
        </struct>
    </type>
</types>

Which almost works; i get the data through to the ROS2 node, but I get an annoying warning "Error building type. The current descriptor isn't consistent".

I've also tried using a struct builder directly from C++ with:

struct_type_builder1->set_name("std_msgs::msg::dds_::Float32_");

Which does the same as the .xml situation above.

I saw another issue with a similar question, and the answer there was to, instead of using ::, doing double underscores as __. I've tried this but the type simply does not match with what would be generated from the .idl at the top of this issue.

So my question is then; how can I get this to work? Struct in structs? Any other tricks?

Best regards,
Josef

Current behavior

Steps to reproduce

Fast DDS version/commit

aa485fc

Platform/Architecture

Windows 10 Visual Studio 2019

Transport layer

Default configuration, UDPv4 & SHM

Additional context

No response

XML configuration file

No response

Relevant log output

No response

Network traffic capture

[DYN_TYPES Error] Error building type. The current descriptor isn't consistent. -> Function eprosima::fastrtps::types::DynamicTypeBuilder::build

[JLBuenoLopez]

According to Fast DDS Contributing guidelines questions are to be asked in the corresponding Discussion forum. I am going to proceed and move this issue to its proper place.

[AlgoryxJosef]

Thank you JLBuenoLopez-eProsima!