We are getting every day a little bit closer to bringing the complete ROS 2 feature list into micro-ROS. This time is the turn of including a dedicated graph manager into the micro-ROS Agent and Client’s RMW, providing the small turtle with unprecedented introspection capabilities!
To do so, we have added a DDS participant into the Agent that scans the network in search of the available ROS 2 entities (nodes, publishers, subscribers, services and so on), and publishes them onto a specific topic, which is listened to by the RMW. From this layer, the ROS 2 graph information is fetched by the upper layers and passed to the user.
Note: At the moment we only support introspection over nodes and their publisher and subscriber entities. Services, actions and so on are coming soon!
This is complemented by the ability of micro-ROS to also inject information about its own ROS 2 entities into the ROS 2 global dataspace, so that users executing graph-related tasks can gather information about which micro-ROS entities are present at the moment.
Find an example guiding you through the graphs usage in micro-ROS here!