File _service:obs_scm:README.md of Package rmw_connext

# rmw_connext

#### 介绍

rmw_connext节点

使用 RTI 的 Connext DDS 实现 ROS 中间件 (rmw) 接口

#### 软件架构
软件架构说明

https://github.com/ros2/rmw_connext.git

文件内容:
```
├── CONTRIBUTING.md
├── LICENSE
├── rmw_connext_cpp
│   ├── bin
│   │   ├── apply-patch.py
│   │   └── call-idl-pp.py
│   ├── CHANGELOG.rst
│   ├── CMakeLists.txt
│   ├── include
│   │   └── rmw_connext_cpp
│   ├── package.xml
│   ├── resources
│   │   ├── connext_static_serialized_data.idl
│   │   ├── patch_files
│   │   └── patch_files_v6
│   ├── rmw_connext_cpp-extras.cmake
│   └── src
│       ├── connext_static_publisher_info.cpp
│       ├── connext_static_subscriber_info.cpp
│       ├── get_client.cpp
│       ├── get_participant.cpp
│       ├── get_publisher.cpp
│       ├── get_service.cpp
│       ├── get_subscriber.cpp
│       ├── identifier.cpp
│       ├── process_topic_and_service_names.cpp
│       ├── process_topic_and_service_names.hpp
│       ├── rmw_client.cpp
│       ├── rmw_compare_gid_equals.cpp
│       ├── rmw_count.cpp
│       ├── rmw_event.cpp
│       ├── rmw_get_gid_for_publisher.cpp
│       ├── rmw_get_implementation_identifier.cpp
│       ├── rmw_get_serialization_format.cpp
│       ├── rmw_get_topic_endpoint_info.cpp
│       ├── rmw_guard_condition.cpp
│       ├── rmw_init.cpp
│       ├── rmw_logging.cpp
│       ├── rmw_node.cpp
│       ├── rmw_node_info_and_types.cpp
│       ├── rmw_node_names.cpp
│       ├── rmw_publish.cpp
│       ├── rmw_publisher.cpp
│       ├── rmw_request.cpp
│       ├── rmw_response.cpp
│       ├── rmw_serialize.cpp
│       ├── rmw_service.cpp
│       ├── rmw_service_names_and_types.cpp
│       ├── rmw_service_server_is_available.cpp
│       ├── rmw_subscription.cpp
│       ├── rmw_take.cpp
│       ├── rmw_topic_names_and_types.cpp
│       ├── rmw_trigger_guard_condition.cpp
│       ├── rmw_wait.cpp
│       ├── rmw_wait_set.cpp
│       ├── serialization_format.cpp
│       └── type_support_common.hpp
├── rmw_connext_dynamic_cpp
│   ├── AMENT_IGNORE
│   ├── CMakeLists.txt
│   ├── package.xml
│   └── src
│       ├── functions.cpp
│       ├── macros.hpp
│       ├── publish_take.cpp
│       ├── publish_take.hpp
│       ├── rmw_node_info_and_types.cpp
│       ├── templates.hpp
│       └── utility_templates.hpp
└── rmw_connext_shared_cpp
    ├── CHANGELOG.rst
    ├── cmake
    │   └── get_rmw_connext_output_filter.cmake
    ├── CMakeLists.txt
    ├── include
    │   └── rmw_connext_shared_cpp
    ├── package.xml
    ├── rmw_connext_shared_cpp-extras.cmake
    ├── src
    │   ├── condition_error.cpp
    │   ├── count.cpp
    │   ├── demangle.cpp
    │   ├── event_converter.cpp
    │   ├── event.cpp
    │   ├── guard_condition.cpp
    │   ├── init.cpp
    │   ├── names_and_types_helpers.cpp
    │   ├── namespace_prefix.cpp
    │   ├── node.cpp
    │   ├── node_info_and_types.cpp
    │   ├── node_names.cpp
    │   ├── qos.cpp
    │   ├── security_logging.cpp
    │   ├── service_names_and_types.cpp
    │   ├── topic_endpoint_info.cpp
    │   ├── topic_names_and_types.cpp
    │   ├── trigger_guard_condition.cpp
    │   ├── types
    │   └── wait_set.cpp
    └── test
        ├── CMakeLists.txt
        ├── test_security_logging.cpp
        └── test_topic_cache.cpp

```

#### 安装教程

1. 下载rpm包

aarch64:

```
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/rmw_connext/ros2-foxy-ros2-rmw_connext-1.0.3-2.oe2203.aarch64.rpm
```

x86_64:

```
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/rmw_connext/ros2-foxy-ros2-rmw_connext-1.0.3-2.oe2203.x86_64.rpm
```

2. 安装rpm包

aarch64:

```
sudo rpm -ivh --nodeps --force ros2-foxy-ros2-rmw_connext-1.0.3-2.oe2203.aarch64.rpm
```

x86_64:

```
sudo rpm -ivh --nodeps --force ros2-foxy-ros2-rmw_connext-1.0.3-2.oe2203.x86_64.rpm
```

#### 使用说明

依赖环境安装:

```
sh /opt/ros/foxy/install_dependence.sh
```

安装完成以后，在/opt/ros/foxy/目录下如下输出,则表示安装成功。

输出:

```
rmw_connext_cpp
└── share
    ├── ament_index
    │   └── resource_index
    ├── colcon-core
    │   └── packages
    └── rmw_connext_cpp
        ├── cmake
        ├── environment
        ├── hook
        ├── local_setup.bash
        ├── local_setup.dsv
        ├── local_setup.sh
        ├── local_setup.zsh
        ├── package.bash
        ├── package.dsv
        ├── package.ps1
        ├── package.sh
        ├── package.xml
        └── package.zsh
rmw_connext_shared_cpp
└── share
    ├── ament_index
    │   └── resource_index
    ├── colcon-core
    │   └── packages
    └── rmw_connext_shared_cpp
        ├── cmake
        ├── environment
        ├── hook
        ├── local_setup.bash
        ├── local_setup.dsv
        ├── local_setup.sh
        ├── local_setup.zsh
        ├── package.bash
        ├── package.dsv
        ├── package.ps1
        ├── package.sh
        ├── package.xml
        └── package.zsh

```

#### 参与贡献

1.  Fork 本仓库
2.  新建 Feat_xxx 分支
3.  提交代码
4.  新建 Pull Request

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