[ros-users] [Discourse.ros.org] [Next Generation ROS] User defined Fast-RTPS parameter control

Dirk Thomas ros.discourse at gmail.com
Thu Sep 21 18:56:00 UTC 2017

The ROS 2 API only provides only a small subset available in the underlying implementation. Therefore some rmw impl. do allow you to reach "around" the ROS 2 API and access native handles of the used implementation. For FastRTPS we have a simple example doing that in the [demo](https://github.com/ros2/demos/blob/c6dd83c29115e056099dfc9fe3d48b35ca34e1d1/demo_nodes_cpp_native/src/talker.cpp#L33-L36) repository.

You will find additional API for other entities in the `rmw_fastrtps_cpp` API: look at the files starting with `get_` in https://github.com/ros2/rmw_fastrtps/tree/a9ffcc5b18ae3b92a6c979cbdd1809209923349c/rmw_fastrtps_cpp/include/rmw_fastrtps_cpp

I am not sure if exposing the participant / publisher / subscriber is sufficient for you use case or if you need to control the actual instantiation of the native handles. In the later case the current API doesn't provide a way to do so yet.

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