Good morning, this is Jose from eProsima talking.
SOSS offers support for ROS standalone packages with commonly used messages types for topics and services; integrating them within your demo is a easy as dropping a few lines in your
CMakeLists.txt using the
soss_rosidl_mix() CMake macro.
Also, you can use dynamic types, thanks to the integration with eProsima’s xtypes. This allows you to define your type structure directly in the YAML configuration file, using IDL description language.
Support for services is also available. Regarding actions, they could be achieved by defining a set of services and a topic. We can include a dedicated field in the YAML file for easily configure an action, regarding user’s side, and let SOSS take care of the rest.
SOSS support a bunch of nice features, such as topic and type remapping, and specific middleware features, such as configurable domain change, in the case of ROS-related systemhandles.
Also, of course, SOSS is not limited to ROS1-ROS2 communication; it allows you to interact with other protocols (FIWARE, DDS, Websockets…) and more are to come yet.