As a followup to my original post, and in the wake of the ROS2 Bouncy release, it's my pleasure to announce that RCLAda has reached its first milestone and is ready for public use.
RCLAda comes with several examples mimicking the ones in the C++/Python client libs for topics and services. There are also examples of concurrent event processing and custom memory allocators. At this time the API might still change a bit but all critical functionality should be in place for initial testing.
Currently missing, and the target for the next release, are options for QoS (which for now is always at the default setting) and static type generation of messages (which is currently sidestepped by using the introspection features of ROS2 and Ada typed reference views).
Check it out at
https://github.com/ada-ros/ada4ros2
Cheers,
lex
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