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

Wir implementieren die ROS-2-DDS-Mapping-Conventions als pure-Rust no_std+alloc Library:

• Topic-Name-Mangling (de-facto-Standard aus rmw_dds_common): ROS 2 logical names werden mit Prefix-Code (rt/, rq/, rr/, rs/) auf DDS-Topic-Namen gemapped.
• REP-2003 QoS Settings — Map-/Sensor-Data-QoS-Profiles (Reliable+TransientLocal fuer Maps; BestEffort+Volatile fuer Sensor-Data).
• REP-2004 Package Quality Categories — Q1-Q5-Klassifikation.
• Standard RMW QoS Profiles — DEFAULT/SENSOR_DATA/PARAMETERS/ SERVICES_DEFAULT/PARAMETER_EVENTS/SYSTEM_DEFAULT.

Was nicht abgedeckt ist

• REP-2005 Common Packages — Informational.
• REP-2007 Type Adaptation — Compile-Time-Feature in C++/Python rclcpp/rclpy; nicht Wire-Layer.
• REP-2008 Hardware Acceleration — Driver-Layer.
• REP-2009 Type Negotiation — Compile-Time-Feature.
• rmw-C-API — die Rust-Crate liefert Mapping-Konstanten und Profile; das eigentliche rmw_zerodds-C-FFI-Crate ist eigener 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-Schicht zur Implementierung eines 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) als 2-Topic-Pair.

topic_mangling

ROS 2 → DDS Topic-Name-Mangling.

type_mapping

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