rmw_cyclonedds API: access native Cyclone DDS entities

Based on the discussion on rosdiscourse, I'm expecting cyclonedds to have a similar ros_to_dds API, however, I cannot find any documentation about it. Is there such an API?

In particular, I would like to be able to set the partition DDS QoS for a publisher and subscriber dynamically at runtime. Or do something similar to this using the OWNER QoS at startup and OWNER_STRENGTH QoS dynamically at runtime.

I do not have the resources to make modifications to rmw_cyclonedds as mentioned in this thread and was hoping ros2 offers this sort of functionality through the ros_to_dds interface.

Asked by FrancoisvE on 2023-05-30 13:44:16 UTC

Comments

I would suggest you post this on ros2/rmw_cyclonedds/issues. Neither the rmw_cyclonedds nor the Cyclone DDS developers frequent ROS Answers, and I believe they would be the ones to know the answer to this (unless a passer by here just happens to have used something like this in the past).

If you do end up posting there, please post a comment here with a link to your issue so we can keep things connected.

This sentence from the Discourse post you link does seem to imply there could be a good chance the functionality you're looking for doesn't exist though:

No, that’s more of a placeholder, instead it’s like the rmw implementations themselves would provide this interface

Asked by gvdhoorn on 2023-05-31 02:03:16 UTC

Thank you @gvdhoorn. I posted here because, if you are asking a question, github refers you to rosdiscourse and rosdiscourse refers you to rosanswers. I have cross-posted my question as a rmw_clonedds github issue here.

Asked by FrancoisvE on 2023-05-31 07:33:43 UTC

I posted here because, if you are asking a question, github refers you to rosdiscourse and rosdiscourse refers you to rosanswers

yes, I know. Unfortunately I don't know of a better way to manage this.

My suggestion is only really that: a suggestion. Let's hope it was a good one.

Asked by gvdhoorn on 2023-05-31 07:38:26 UTC