micro-ROS / micro-ROS/rmw_microxrcedds
How to serialize/deserialize message
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- Dominant language
- C
- Stars
- 47
- Forks
- 36
- Avg merge
- 2d 19h
- Merged PRs (30d)
- 6
Description
Hi,
We are working on a solution which utilizes micro-ROS. Currently we do not want to use any publishers, subsribers etc. but only messages serialization and deserialization.
The idea is to serialize ROS 2 message e.g. std_msgs/msg/Float32 on the board, send it (but not using ROS 2 or micro-ROS) and deserialize on the other side using rclcpp::Serialization<T>.
I explored the codebase and found function which is responsible for publishing the data (rmw_publish).
There is the logic for something which resemble serialization but I could not figure out how to extract it and use as standalone function.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Begin at rmw_microxrcedds_c/src/rmw_publish.c#L32 and the rclcpp::Serialization call mentioned in the issue. Trace how a std_msgs/msg/Float32 message is serialized and what the receiving side expects, then verify whether a standalone path is available. Done should clearly explain the callable entry points or the missing piece needed for serialization without publishers or subscribers.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- c, cpp
- Domain
- embedded-iot
- Issue type
- Feature
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100