Challenges with ROS2 on commercial robots

RFRIEDM · March 25, 2025, 8:33pm

For #2, I already filed a request here:

Feature Request: Optional Attributes

opened 05:20PM - 25 Feb 25 UTC

enhancement help wanted

DDS supports the [optional attribute in IDL 4.2 specification](https://www.omg.o…rg/spec/IDL/4.2/PDF) attribute section 8.3.1.3. In C++, now that we have C++17, we can use std::optional. A prior dicussion is here: https://discourse.ros.org/t/optional-fields-in-message/991/16 Consider adding a `@optional` specifier to rosidl that translates to the DDS optional . Amend the ROS 2 design documentation for `Standardized Annotations` to add optional: https://design.ros2.org/articles/idl_interface_definition.html It's supported by: * [FastDDS](https://fast-dds.docs.eprosima.com/en/latest/fastddsgen/dataTypes/dataTypes.html#optional-members) * [RTI](https://community.rti.com/static/documentation/connext-dds/current/doc/manuals/connext_dds_professional/extensible_types_guide/extensible_types/Optional_Members.htm) * [CycloneDDS](https://cyclonedds.io/content/guides/supported-idl.html#optional) * [Zenoh](https://github.com/colinhacks/zod/issues/310#issuecomment-794533682) Workarounds: Bounded array with a max length of 1, but the syntax is funky.

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Challenges with ROS2 on commercial robots

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