docs.rs failed to build rmw-zerodds-shim-1.0.0-rc.1
Please check the build logs for more information.
See Builds for ideas on how to fix a failed build, or Metadata for how to configure docs.rs builds.
If you believe this is docs.rs' fault, open an issue.

rmw-zerodds-shim — ROS 2 RMW Implementation

Liefert librmw_zerodds.{so,dylib,dll} so dass rclcpp/rclpy ueber RMW_IMPLEMENTATION=rmw_zerodds_cpp ZeroDDS als RMW-Backend nutzen kann.

Architektur

  rclcpp / rclpy / rclrs
      │  rmw API (REP-2007)
      ▼
  librmw_zerodds.{so,dylib,dll}    ◀── diese Crate
      │  ZeroDDS C-API (zerodds.h)
      ▼
  libzerodds.{so,dylib,dll}        (crates/zerodds-c-api)
      │  RTPS over UDP/TCP/SHM/UDS
      ▼
  Wire

REP-2007-Mapping (Topic-Mangling, QoS-Profile, Identifier-Constraints) kommt aus crates/ros2-rmw. Wire-Pfad ist die ZeroDDS-DCPS-Runtime ueber zerodds-c-api. Discovery laeuft via SPDP/SEDP automatisch.

Phase-A vs Phase-B

Phase-A (jetzt): Pub-Sub-Pipeline + Initialisierung. Stubs fuer Services, Wait-Sets, Loaning — diese returnen RMW_RET_UNSUPPORTED und blockieren rclcpp's Plugin-Loader nicht.

Phase-B (folgt): Service-Layer (auf RPC-Crate), Wait-Sets, Guard-Conditions, Loan-Borrowing, Type-Hash (REP-2009).

Build

Standalone (ohne ROS)

cargo build -p rmw-zerodds-shim --release
ls target/release/librmw_zerodds.*
ls crates/rmw-zerodds-shim/include/rmw_zerodds.h

In einem ROS-2-Workspace

# 1) Rust-Build im ZeroDDS-Repo
cd ~/zerodds
cargo build -p rmw-zerodds-shim --release

# 2) ament_cmake-Wrapper im ROS-2-Workspace
mkdir -p ~/ros2_ws/src/rmw_zerodds
cp -r crates/rmw-zerodds-shim/ament/* ~/ros2_ws/src/rmw_zerodds/
cd ~/ros2_ws
ZERODDS_HOME=$HOME/zerodds \
  colcon build --packages-select rmw_zerodds

Verwendung

. ~/ros2_ws/install/setup.bash
RMW_IMPLEMENTATION=rmw_zerodds_cpp \
  ros2 topic pub /chatter std_msgs/String "data: hello"

# In einem zweiten Terminal:
RMW_IMPLEMENTATION=rmw_zerodds_cpp \
  ros2 topic echo /chatter std_msgs/String

Distro-Targets

ROS 2 Humble — ament_cmake 1.5.x (Ubuntu 22.04 LTS)
ROS 2 Iron — ament_cmake 2.x (Ubuntu 22.04 LTS)
ROS 2 Jazzy — ament_cmake 2.x (Ubuntu 24.04 LTS)

CI-Job ci/jobs/rmw-distro-build.yml baut alle drei Distros in separaten Docker-Layern.

Symbole

Die Library exportiert rmw_zerodds_*-Praefixierte Funktionen. rclcpp ruft sie via Plugin-Discovery durch. Phase-B addet die unpraefixierten rmw_*-Aliase fuer rmw-side-by-side-Kompatibilitaet.

Phase-A implementiert	Phase-A stub (UNSUPPORTED)
`..._get_implementation_identifier`	`..._create_client`
`..._get_serialization_format`	`..._create_service`
`..._init` / `_shutdown`	`..._wait`
`..._create_node` / `_destroy_node`	`..._borrow_loaned_message`
`..._create_publisher` / `_publish`
`..._create_subscription` / `_take`
`..._buffer_free`

Tests

cargo test -p rmw-zerodds-shim

Phase-A: 6 Unit-Tests (Codes, Identifier, Serialization-Format, NULL-Tolerance, Stubs).

Status

✅ Crate skeleton, cdylib + staticlib + rlib
✅ cbindgen-generierte rmw_zerodds.h (Phase-A-API)
✅ ament_cmake-Wrapper-Files (ament/CMakeLists.txt + package.xml)
✅ Pub-Sub-Pipeline live (gegen zerodds-c-api-Runtime)
🔲 ros2-Live-Smoke (Humble, Iron, Jazzy) — Phase-A zweite Etappe
🔲 Service-Layer + Wait-Sets — Phase-B
🔲 Type-Hash REP-2009 — Phase-B

rmw-zerodds-shim 1.0.0-rc.1