Adding rmw_request_id_t allocator
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- Dominant language
- C++
- Stars
- 805
- Forks
- 564
- Avg merge
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- Merged PRs (30d)
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Description
Feature request
Should rmw_request_id_t's allocator be used in the create_request_header method
Feature description
Added in this commit, there is a TODO within the method create_request_header that wants to utilize rmw_request_id_t with a custom allocator of some sort.
Implementation considerations
This TODO is roughly 8.5 years old, a lot has changed since then especially with rmw, so if this isn't necessary I can just open a PR that removes the TODO. Otherwise, since rmw_request_id_t doesn't have an allocator inside of the class, should this method be using some from of allocator in rclc since it is a C type, in order to efficiently create new request headers?
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
Start by reading create_request_header in rclcpp/include/rclcpp/client.hpp and the rmw_request_id_t definition in rmw/include/rmw/types.h. Determine whether the allocator TODO is still required with current rmw behavior; done means either implementing the appropriate allocator handling or removing the obsolete TODO, with corresponding validation.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 35/100