File _service:obs_scm:README.md of Package rosidl_dds

# rosidl_dds

#### 介绍

rosidl_dds节点

产生rosidl dds的消息

#### 软件架构
软件架构说明

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

文件内容:
```
├── CONTRIBUTING.md
├── LICENSE
└── rosidl_generator_dds_idl
    ├── bin
    │   └── rosidl_generator_dds_idl
    ├── cmake
    │   └── rosidl_generate_dds_interfaces.cmake
    ├── CMakeLists.txt
    ├── package.xml
    ├── resource
    │   ├── action.idl.em
    │   ├── idl.idl.em
    │   ├── msg.idl.em
    │   └── srv.idl.em
    ├── rosidl_generator_dds_idl
    │   └── __init__.py
    └── rosidl_generator_dds_idl-extras.cmake.in
```

#### 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/rosidl_dds/ros2-foxy-ros2-rosidl_dds-0.7.1-2.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/rosidl_dds/ros2-foxy-ros2-rosidl_dds-0.7.1-2.oe2203.x86_64.rpm
```

2. 安装rpm包

aarch64:

```
sudo rpm -ivh --nodeps --force ros2-foxy-ros2-rosidl_dds-0.7.1-2.oe2203.aarch64.rpm
```

x86_64:

```
sudo rpm -ivh --nodeps --force ros2-foxy-ros2-rosidl_dds-0.7.1-2.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:

```
./
├── bin
├── COLCON_IGNORE
├── include
│   ├── ament_index_cpp
│   ├── benchmark
│   ├── mimick
│   ├── osrf_testing_tools_cpp
│   ├── performance_test_fixture
│   ├── rcppmath
│   ├── rcpputils
│   ├── rcutils
│   ├── rosidl_runtime_c
│   ├── rosidl_runtime_cpp
│   ├── rosidl_typesupport_cpp
│   ├── rosidl_typesupport_interface
│   ├── rosidl_typesupport_introspection_c
│   └── rosidl_typesupport_introspection_cpp
├── lib
│   ├── cmake
│   ├── rosidl_adapter
│   ├── rosidl_generator_c
│   ├── rosidl_generator_cpp
│   ├── rosidl_generator_dds_idl
│   ├── rosidl_parser
│   ├── rosidl_typesupport_introspection_c
│   └── rosidl_typesupport_introspection_cpp
├── lib64
├── local_setup.bash
├── local_setup.ps1
├── local_setup.sh
├── _local_setup_util_ps1.py
├── _local_setup_util_sh.py
├── local_setup.zsh
├── setup.bash
├── setup.ps1
├── setup.sh
├── setup.zsh
├── share
│   ├── rosidl_adapter
│   ├── rosidl_cmake
│   ├── rosidl_generator_c
│   ├── rosidl_generator_cpp
│   ├── rosidl_generator_dds_idl
│   ├── rosidl_parser
│   ├── rosidl_runtime_c
│   ├── rosidl_runtime_cpp
│   ├── rosidl_typesupport_interface
│   ├── rosidl_typesupport_introspection_c
│   ├── rosidl_typesupport_introspection_cpp
│   └── uncrustify_vendor
└── src
    ├── gmock_vendor
    └── gtest_vendor
```

```
#!/usr/bin/env python3

import argparse
import sys

from rosidl_generator_dds_idl import generate_dds_idl

def main(argv=sys.argv[1:]):
    parser = argparse.ArgumentParser(
        description='Generate the DDS interfaces for ROS interfaces.',
        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
    parser.add_argument(
        '--additional-service-templates',
        nargs='*',
        help='Additional EmPy templates to evaluate when generating services')
    parser.add_argument(
        '--generator-arguments-file',
        required=True,
        help='The location of the file containing the generator arguments')
    parser.add_argument(
        '--subfolders',
        nargs='*',
        help='The subfolders between the package name and the interface '
             'definition')
    parser.add_argument(
        '--extension',
        nargs='?',
        help='The Python module extending the generator')
    args = parser.parse_args(argv)

return generate_dds_idl(
        args.generator_arguments_file,
        args.subfolders,
        args.extension,
        args.additional_service_templates,
    )

if __name__ == '__main__':
    sys.exit(main())

```

#### 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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