ros2 / ros2/rclcpp

Intra-process services and actions

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enhancement help wanted
Dominant language
C++
Stars
805
Forks
564
Avg merge
1d 17h
Merged PRs (30d)
27

Description

Feature request

Feature description

Currently the intra-process manager only handles publishers and subscriptions.
It should be extended to all the communication modes (services and actions).

Implementation considerations

I wonder if the same approach used for publishers/subscriptions (e.g. create intra-process client and intra-process service that derive from waitable) is enough or if a different solution should be adopted.

Contributor guide

Open the contributing guide

First steps

  1. Read the whole issue, then the project's contributing guide.
  2. Comment on the issue to say you are picking it up — it saves two people doing the same work.
  3. Fork the repository and make your change on a branch.
  4. Open a pull request that references the issue number.

Research direction

Review the existing intra-process publisher and subscription implementation, including the proposed waitable-based client and service approach. Determine how intra-process services and actions should fit the other communication modes, then validate the design against the project's service and action behavior. Done means the design and implementation support services and actions, not only publishers and subscriptions.

Written by the indexing model from the issue text.

Assessment

Tech stack
cpp
Domain
distributed-systems
Issue type
Feature
Difficulty
5/5
Estimated time
Over a week
Activity status
Stale
Clarity
Needs clarification
Newbie friendliness
25/100

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