ROS2 Service implementation on DDS layer

asked 2020-04-28 06:40:05 -0600

AmAppu gravatar image

updated 2020-04-28 08:22:53 -0600

Hi,

This webpage suggesting two kinds of implementations are possible for Service in DDS layer(by using DDS::RPC or by using pub-sub with additional QoS changes). But ros2 wiki didn't have any information regarding which one is currently implemented.

How the ROS2 service implemented in the DDS layer?

And how the service discovery is handled?

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Comments

https://www.ros.org/reps/rep-2000.html Here you can find all supported middlewares, actual the standard is fastrtps.

MrCheesecake gravatar image MrCheesecake  ( 2020-04-28 07:06:26 -0600 )edit

@MrCheesecake I am looking for "how the ros2 application layer interacts with the DDS in case of ros2:: service". whether it uses DDS::RPC or implemented on top of pub-sub by changing the QoS.

I think my questing is confusing. I will edit that.

AmAppu gravatar image AmAppu  ( 2020-04-28 08:19:15 -0600 )edit