Expose PID_USER_DATA from SEDP endpoint discovery#403
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alvgaona wants to merge 1 commit intoAtostek:masterfrom
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Expose PID_USER_DATA from SEDP endpoint discovery#403alvgaona wants to merge 1 commit intoAtostek:masterfrom
alvgaona wants to merge 1 commit intoAtostek:masterfrom
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Extract PID_USER_DATA from discovered reader and writer parameter lists and expose it on EndpointDescription. This allows applications to access DDS user data set by remote participants, such as ROS 2 type hashes.
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Reference: https://www.omg.org/spec/DDSI-RTPS/2.0/PDF (p. 185) |
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@jhelovuo what do you think of supporting this? |
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Summary
Expose
PID_USER_DATA(0x002C) from SEDP-discovered endpoints. This is a standard DDS parameter that RustDDS currently discards during parsing.The
user_datafield is added asVec<u8>toDiscoveredReaderData,DiscoveredWriterData, andEndpointDescription, making it available throughWriterDetected/ReaderDetectedstatus events.Use case
ROS 2 Jazzy embeds type hashes in
PID_USER_DATA(e.g.typehash=RIHS01_<hex>;). These hashes are needed to call theget_type_descriptionservice for runtime message schema resolution, enabling pure-DDS tools to deserialize ROS 2 messages without a ROS 2 installation.Design
Vec<u8>— matches the DDS spec definition of opaque bytes; no interpretation imposed.Optionwrapping since most endpoints don't set it.