Implementation of the ROS Middleware (rmw) Interface using Intel's Distributed Publish & Subscribe for IoT (DPS).
DPS is a new protocol that implements the publish/subscribe (pub/sub) communication pattern. For more information see the project's documentation.
This project adds two build targets: dps_for_iot_cmake_module and rmw_dps_cpp. dps_for_iot_cmake_module builds the DPS libraries, and requires the SCons and python-config tools (make sure to run rosdep install as usual).
rmw_dps_cpp is the rmw implementation. To build, either add rmw_dps to to your local ros2.repos or explicitly clone it.
For the first option, add the following block to ros2.repos and follow the ROS 2 instructions for updating and building.
ros2/rmw_dps:
type: git
url: https://github.com/ros2/rmw_dps.git
version: master
For the second option, clone this repository using the command below and build ROS 2.
git clone https://github.com/ros2/rmw_dps src/ros2/rmw_dps
Work is ongoing to complete full support for all rmw APIs.
Completed:
- Publishers and subscribers, services and clients
- Message serialization and deserialization
- Discoverability
To be completed:
- Full support of QoS
- Pass through security configuration to DPS