Our graph manager is growing up, acquiring more functionalities at each step it takes!
The most recent news is that, while in its initial implementation it only handled publishers and subscriptions, it now became able to fetch information about services and actions, too! This broadens its spectrum of action significantly, providing both ROS 2 and micro-ROS nodes with the ability to introspect the network in search of virtually any kind of entity that belongs to nodes of either kind.
Next step? Providing a graph implementation in the rclc! This is important to us, as we have in our roadmap to migrate all functionalities to this layer, so as to make it the default micro-ROS user’s API. Speaking of which, we just added services to this layer (find an example application here)!
A fully equipped rclc is coming, stay tuned!