Crate zerodds_ros2_rmw 

ROS 2 RMW Bridge Layer.

Crate zerodds-ros2-rmw. Safety classification: STANDARD. Specs: docs/standards/cache/ros2/rep-{2003,2004,2005,2007,2008, 2009}.html (ROS Enhancement Proposals).

Scope

We implement the ROS-2 DDS mapping conventions as a pure-Rust no_std+alloc library:

• Topic name mangling (de-facto standard from rmw_dds_common): ROS 2 logical names are mapped to DDS topic names with a prefix code (rt/, rq/, rr/, rs/).
• REP-2003 QoS settings — map/sensor-data QoS profiles (Reliable+TransientLocal for maps; BestEffort+Volatile for sensor data).
• REP-2004 package quality categories — Q1-Q5 classification.
• Standard RMW QoS profiles — DEFAULT/SENSOR_DATA/PARAMETERS/ SERVICES_DEFAULT/PARAMETER_EVENTS/SYSTEM_DEFAULT.

What is not covered

• REP-2005 Common Packages — informational.
• REP-2007 Type Adaptation — a compile-time feature in C++/Python rclcpp/rclpy; not a wire layer.
• REP-2008 Hardware Acceleration — driver layer.
• REP-2009 Type Negotiation — compile-time feature.
• rmw C API — the Rust crate provides mapping constants and profiles; the actual rmw_zerodds C-FFI crate is its own sprint.

Re-exports

pub use ffi_api::RMW_IMPLEMENTATION_IDENTIFIER;

pub use ffi_api::RmwNode;

pub use ffi_api::RmwRet;

pub use ffi_api::check_rmw_identifier;

pub use ffi_api::map_to_rmw_ret;

pub use qos_profiles::Durability;

pub use qos_profiles::History;

pub use qos_profiles::QosProfile;

pub use qos_profiles::Reliability;

pub use qos_profiles::profiles;

pub use quality::QualityLevel;

pub use rmw_qos_mapping::RmwDurability;

pub use rmw_qos_mapping::RmwHistory;

pub use rmw_qos_mapping::RmwQosProfile;

pub use rmw_qos_mapping::RmwReliability;

pub use rmw_qos_mapping::dds_to_rmw;

pub use rmw_qos_mapping::rmw_to_dds;

pub use topic_mangling::NameMangleError;

pub use topic_mangling::RosKind;

pub use topic_mangling::demangle_topic_name;

pub use topic_mangling::is_ros_topic;

pub use topic_mangling::mangle_topic_name;

pub use type_mapping::RosBuiltinType;

pub use type_mapping::RosNamespace;

pub use type_mapping::RosTypeRef;

Modules

action

ROS-2 Action-Pattern (5-Topic-Set).

ffi_api

REP-2007 RMW C-API skeleton — Rust layer for implementing an rmw_zerodds library.

json_log

rcutils-kompatibles JSON-Logging.

msg_to_idl

REP-2008 Type-Mapping .msg/.srv → IDL.

qos_profiles

ROS 2 Standard QoS Profiles — REP-2003 + RMW Defaults.

quality

ROS 2 Package Quality Categories — REP-2004.

rmw_qos_mapping

REP-2009 RMW-QoS-Mapping — rmw_qos_profile_t (C struct) → DDS-QoS.

service

ROS 2 service pattern (request-reply) as a 2-topic pair.

topic_mangling

ROS 2 → DDS Topic-Name-Mangling.

type_mapping

REP-2008 Type-System-Mapping — rosidl → DDS-XTypes-1.3.