Mention rmw_specific_{pub,sub}_payload in rmw impl tutorial #5967
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Signed-off-by: Christophe Bedard <[email protected]>
christophebedard
added
the
backport-all
|
@wjwwood Kyle pointed out that |
|
HTML artifacts: https://github.com/ros2/ros2_documentation/actions/runs/18665157929/artifacts/4321635935. To view the resulting site:
|
| To get around that and introduce some flexibility, some implementations use environment variables: ``RMW_FASTRTPS_*``, ``RMW_CONNEXT_*``, etc. | ||
| The ``rmw`` interface allows providing arbitrary implementation-specific configuration payloads for publishers and subscriptions through the type-erased ``rmw_specific_publisher_payload`` / ``rmw_specific_subscription_payload`` fields in ``rmw_publisher_options_t`` / ``rmw_subscription_options_t``. | ||
| This is set by users through ``RMWImplementationSpecificPublisherPayload`` / ``RMWImplementationSpecificSubscriptionPayload`` in ``rclcpp``, for example. | ||
| This is an advanced, non-portable feature that is not currently used by any (tier 1) implementations. |
There was a problem hiding this comment.
I thought it was interesting to point out that this is currently not used by any common/tier 1 implementation, just to discourage people from using it, but I'm open to removing that part of the sentence.
There was a problem hiding this comment.
IMO this can stay here as it is implemented. to be honest, i did not even know this interface to pass any payload to the rmw... thanks for pointing that out 👍
fujitatomoya
approved these changes
Oct 20, 2025
| To get around that and introduce some flexibility, some implementations use environment variables: ``RMW_FASTRTPS_*``, ``RMW_CONNEXT_*``, etc. | ||
| The ``rmw`` interface allows providing arbitrary implementation-specific configuration payloads for publishers and subscriptions through the type-erased ``rmw_specific_publisher_payload`` / ``rmw_specific_subscription_payload`` fields in ``rmw_publisher_options_t`` / ``rmw_subscription_options_t``. | ||
| This is set by users through ``RMWImplementationSpecificPublisherPayload`` / ``RMWImplementationSpecificSubscriptionPayload`` in ``rclcpp``, for example. | ||
| This is an advanced, non-portable feature that is not currently used by any (tier 1) implementations. |
There was a problem hiding this comment.
IMO this can stay here as it is implemented. to be honest, i did not even know this interface to pass any payload to the rmw... thanks for pointing that out 👍
fujitatomoya
deleted the
christophebedard/rmw-tutorial-rmw-specific-pub-sub-payload
branch
mergify bot
pushed a commit
that referenced
this pull request
Oct 20, 2025
Signed-off-by: Christophe Bedard <[email protected]> (cherry picked from commit 06de4e8)
mergify bot
pushed a commit
that referenced
this pull request
Oct 20, 2025
Signed-off-by: Christophe Bedard <[email protected]> (cherry picked from commit 06de4e8)
This was referenced Oct 20, 2025
mergify bot
pushed a commit
that referenced
this pull request
Oct 20, 2025
Signed-off-by: Christophe Bedard <[email protected]> (cherry picked from commit 06de4e8)
fujitatomoya
pushed a commit
that referenced
this pull request
Oct 20, 2025
…5968) (cherry picked from commit 06de4e8) Signed-off-by: Christophe Bedard <[email protected]> Co-authored-by: Christophe Bedard <[email protected]>
fujitatomoya
pushed a commit
that referenced
this pull request
Oct 20, 2025
…5969) (cherry picked from commit 06de4e8) Signed-off-by: Christophe Bedard <[email protected]> Co-authored-by: Christophe Bedard <[email protected]>
fujitatomoya
pushed a commit
that referenced
this pull request
Oct 20, 2025
…5970) (cherry picked from commit 06de4e8) Signed-off-by: Christophe Bedard <[email protected]> Co-authored-by: Christophe Bedard <[email protected]>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
Follow-up to #5927.
The general statement here about the interface not supporting passing arbitrary configurations wasn't entirely correct. See ros2/rclcpp#882.
This still doesn't mean that you can arbitrarily configure anything, since this is only for publishers/subscriptions, though.
Did you use Generative AI?
Additional Information