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Hi,
I'm asking this question because I've made work Galactic and Galactic devices on the same subnet and ROS_DOMAIN_ID but never I've tried with Galactic and Humble on the same subnet and ROS_DOMAIN_ID.
Do you guys see any potential problem by doing that? or is it similar by doing Galactic and Galactic?
Best,
Previously, I was sure this shouldn't be a problem, but @gvdhoorn here explained that DDS implementation also matters.
A quick note:
Middleware abstraction will be the same, even if DDS implementations differ.the abstraction perhaps, but there is currently no guarantee of cross-vendor compatibility. Cyclone DDS and Fast-DDS are known to be incompatible for instance (see ros2/rmw_cyclonedds#184).
This essentially means only Fast-DDS can be used with micro-ROS, unless the application does not use services nor actions (ie: only topics).
For the OP, this wouldn't pose a problem, as both Foxy and Humble use Fast-DDS by default. But Galactic would be incompatible, and so would anyone trying to use Cyclone DDS with micro-ROS.
Does that mean that I need to switch from Cyclone DDS to Fast-DDS in Galactic in order to be compatible with the device running Humble with Fast-DDS?
I am afraid so, unless if your project doesn't use services or actions.
Here is a list of inter-vendor communication configurations that are not supported.
Luckily, working with multiple DDS implementations is quite simple.
Or someone could address the incompatibilities described in ros2/rmw_cyclonedds#184.
Asked: 2022-09-12 06:39:07 -0500
Seen: 349 times
Last updated: Sep 12 '22
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