Zenoh-pico add ROS2 Unix example using CycloneDDS CDR serializer #8
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Thank you for your contribution. |
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@PetervdPerk-NXP I did a PR on top of yours to improve out-of-the-box experience and to fix things here and there in the README.md(s) The dependency to eclipse-cyclonedds/cyclonedds#1564 does not seem mandatory. Until merged, it will compile the entire CycloneDDS suite, but it does not seem a problem to me. Thanks for your contribution. |
Improve out-of-the-box example and README
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| int main(int argc, char **argv) { | ||
| const char *keyexpr = "rt/zenoh_log_test"; | ||
| const char *value = "Pub from Pico IDL!"; |
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This variable is not used.
I did a PR to remove unused variable and apply formatting.
I believe we can go on with accepting the PR and to clearly state in the README that you'd need to build the entire CycloneDDS suite until the corresponding PR is accepted. |
Final tweaks before merging into eclipse-zenoh
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These have been added:
Looks ready to merge. |
Adds a UNIX example to communicate with ROS2 using the native ROS2 message definitions.
For serialization we use the CycloneDDS CDR serializer, for now we compile some components separately. But ideally we would have to have do decouple some modules from CycloneDDS i.e. dds_cdrstream.c and turn it into a standalone library that could run also on small RTOS'es (FreeRTOS, Zephyr and more)
To use the UNIX example you've to specify the ROS_DISTRO and it will automatically generated the definitions and serializer to communicate on a ROS2 topic. For more information see https://github.com/NXPHoverGames/zenoh-demos/blob/400df907eaf50416b36fc729e9bd5a0d0c44f428/ROS2/zenoh-pico-cyclonedds-cdr-message-log/README.md
Furthermore this PR has a soft dependency to this eclipse-cyclonedds/cyclonedds#1564 PR to avoiding that we compile the complete DDS stack.