Ask Your Question

qootec's profile - activity

2019-10-04 09:20:57 -0500 received badge  Notable Question (source)
2019-09-19 22:35:42 -0500 received badge  Popular Question (source)
2019-09-17 05:06:29 -0500 commented question ROS2, Micro-ROS & intra-process

Hmmm, when trying to post to discourse, their forum indicates that questions need to go to answers.ros.org anyway, so no

2019-09-17 05:00:45 -0500 commented question ROS2, Micro-ROS & intra-process

My mistake, they point to https://discourse.ros.org/c/embedded as the most suitable location. I guess I shouldn't be cro

2019-09-17 03:48:05 -0500 received badge  Popular Question (source)
2019-09-17 03:24:18 -0500 asked a question ROS2, Micro-ROS & intra-process

ROS2, Micro-ROS & intra-process Dear (Micro-)ROS developers, From an applied research point of view, we are interes

2019-09-13 03:03:08 -0500 received badge  Popular Question (source)
2019-09-13 03:02:21 -0500 marked best answer ROS2 serialization ConnextStaticSerializedData

Environment:

  • ROS2 Dashing Patch 2
  • Windows 10
  • messages based on msg files (no idl yet, since I can't seem that to get that operational)
  • RTI Connext DDS 5.3.1

Reproduction:

  • Create a custom message type and a Publisher & Subscriber for it.
  • Start your nodes

Expected behavior:

  • They communicate - ok they do.
  • Their type is observable through RTI's Admin Console

Observed behavior:

  • The topic's type is not observable through RTI's Admin Console. Instead, Admin Console reports the type as "ConnextStaticSerializedData".
  • Consequentially, the Admin Console shows shows only partial matches (conflicting data type). image description
  • Even loading data types from XML (supported by RTI Admin Console) is not accepted (could be my mistake).

Question(s):

  • Does this mean that ROS2 is using non-standard serialisation? Looking at the code it seems that serialisation happens independently in the ROS2 RMW layer and is then submitted as a serialized packet to a topic typed by ConnextStaticSerializedData, whatever the original type. This happens for custom types, but e.g. not for the rq/…/list_parametersRequest and other built-in types.
  • Any way to avoid this behavior? It is quite annoying from an interoperability point of view (Admin console, but also other non ROS2 DDS-based applications).
  • Does the behavior change when I would use IDL instead of msg files? I didn't find a way to get that working although it should work on Dashing.

Thanks, Johan

2019-09-13 03:02:21 -0500 received badge  Scholar (source)
2019-09-13 02:59:15 -0500 received badge  Notable Question (source)
2019-09-13 02:59:15 -0500 received badge  Popular Question (source)
2019-09-10 08:48:04 -0500 received badge  Supporter (source)
2019-09-10 08:47:55 -0500 commented answer ROS2 serialization ConnextStaticSerializedData

Hi Karsten, thanks for your extensive answer. (from my question) It is quite annoying from an interoperability point

2019-09-09 08:08:05 -0500 asked a question ROS2 disables local shmem

ROS2 disables local shmem Environment: ROS2 Dashing Patch 2 Windows 10 RTI Connext DDS No customizations of DDS layer

2019-09-09 03:49:15 -0500 asked a question ROS2 serialization ConnextStaticSerializedData

ROS2 serialization ConnextStaticSerializedData Environment: ROS2 Dashing Patch 2 Windows 10 messages based on msg file

2019-06-17 17:32:41 -0500 asked a question ROS2 DD - debug release fails to create process

ROS2 DD - debug release fails to create process Platform: ROS 2 Dashing Diademata, patch 1, debug version from here Wi