micro-ROS fully supports ROS 2 features

mamerlan · 2021-11-23T11:18:54.419Z

micro-ROS already supported the ROS 2 communication paradigms (pub/sub, services, parameters, lifecycle….)

From now on, micro-ROS also supports actions. This means that the RCLC now is fully completed and enables all ROS 2 features.

Therefore, the full integration with all ROS 2-based interfaces can be achieved from the plain C micro-ROS API. Also, it provides specific features such as a real time executor or static memory handling.

The RCLC Actions Implementation in micro-ROS supports most of the well-known features of actions like goal requests, goal cancels, feedback and so on. All of them use the dynamic-memory-free micro-ROS usual approach.

They will be included in RCLC Rolling release v3.0.5

gavanderhoorn · 2021-11-23T11:23:16.988Z

Are there any plans to backport this to earlier (Micro-)ROS versions?

(would that even be possible?)

pablogs · 2021-11-23T11:28:33.739Z

Hello @gavanderhoorn, it is not possible due to the ABI policy of RCLC. The implementation of action breaks ABI, so backporting it to Foxy or Galactic is not possible.

Maybe it is a good idea to have in Rolling until Humble came up in order to polish possible misbehaviours that we have not seen during dev&test.

Please provide feedback if you test this new API. Thanks!!