Micro-XRCE Client to Micro-ROS Agent connection

edit

Of course, using a bare Micro XRCE-DDS Client will work with ROS2 if you handle the topic and type names correctly.

@Pablogs: I'm interested in this exactly. Would you (or your colleagues) have some notes on this you could share?

Not here on this Q&A perhaps, as it would be off-topic.

Well let me explain this a bit:

• Micro XRCE-DDS Agent project from eProsima builds a library that complies with the DDS-XRCE standard. The repo also is able to build an executable to use the functionality of the library along with a CLI, probably what you are used to use.

• micro-ROS Agent uses Micro XRCE-DDS Agent library and implements some other ROS-related functionality such as Graph manager and (soon) Parameter manager.

In general, micro-ROS Agent has the Micro XRCE-DDS Agent inside, but if you are not using the extended they are the same.

For example, one interesting test is that you should not be able to see your micro-ROS nodes using ros2 node list with the bare XRCE-DDS Agent, but it will work with the micro-ROS Agent because it has the ROS 2 Graph module handling this feature.

Is this now a little bit more clear?

Or have I misunderstood you and you want to know more about the XRCE-DDS to ROS name mangling for topics and types?

Yes, your second comment ;)

But if it's just the "standard name-mangling", then a statement to that effect would also be ok.

Edit: an example somewhere showing this in code would be even better, but that's probably too much to ask.

Yes, it is the default name mangling.

I don't have an example, but I know that the (old) library ros2arduinouses this bare XRCE Client apps with name mangling, you can check it here: https://github.com/ROBOTIS-GIT/ros2ar...

If you have any doubt about an XRCE client implementation, do not hesitate to open an issue in the Github repo.