[ros-users] [Discourse.ros.org] [Embedded] RMW-microxrcedds implementation

[Borja Outerelo]

Hi @Kei.

rmw-microxrcedds depends on Micro XRCE-DDS Client v1.0.1.
micro-ROS Agent depends on Micro XRCE-DDS Agent v1.01, so the dependency with FastRTPS 1.7.0 is here, on the agent side.
This force you to use FastRTPS 1.7.0 on your ROS 2 workspace where you want the micro-ROS Agent running.

You can check that there is an ongoing pull request to upgrade ROS 2 repositories to that version:
https://github.com/ros2/rmw_fastrtps/pull/233

>From that you can get Dirk's list of ros2.repos used for testing:
https://gist.githubusercontent.com/dirk-thomas/e377d8de1d8d7d41e15e1955a46f96c9/raw/dc498ab63c038df358bd2c0ccfad86dc0e0615cb/ros2.repos

Note the following changes in ros2.repos:

Fast-RTPS

    Branch: release/1.7.0

rmw_fastrtps

    Repo: https://github.com/eProsima/rmw_fastrtps.git
    Branch : fastrtps-1.7.0

Hopefully, this clarifies a bit on the dependencies.

Although, on this repository specific to micro-ROS, there are lists of repositories for agent and client side:

https://github.com/microROS/micro-ROS-doc/tree/master/repos

If you have any other question, I will be glad to help.





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