feat: expose zenoh session #865
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YuanYuYuan
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| /// \param[in] context The RMW context. | ||
| /// \return A shared pointer to the Zenoh session, or nullptr if invalid. | ||
| RMW_PUBLIC | ||
| const std::shared_ptr < zenoh::Session > |
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| const std::shared_ptr < zenoh::Session > | |
| const std::shared_ptr<zenoh::Session> |
| ) | ||
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| if(BUILD_TESTING) | ||
| find_package(ament_cmake_gtest REQUIRED) |
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move the upper BUILD_TESTING conditional block code here
| find_package(zenoh_cpp_vendor REQUIRED) | ||
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| if(BUILD_TESTING) | ||
| find_package(rclcpp REQUIRED) |
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move this the same BUILD_TESTING conditional
| <test_depend>ament_lint_auto</test_depend> | ||
| <test_depend>ament_lint_common</test_depend> | ||
| <test_depend>rclcpp</test_depend> | ||
| <test_depend>std_msgs</test_depend> |
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are you using std_msgs somewhere ?
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| <test_depend>ament_lint_auto</test_depend> | ||
| <test_depend>ament_lint_common</test_depend> | ||
| <test_depend>rclcpp</test_depend> |
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not sure if we can do this here. This might generate a circular depencency. rclcpp it build based on the rmw.
we can create a test_rmw_zenoh_cpp new package and include the tests there
Yadunund
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Yadunund
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@YuanYuYuan thanks for looking into this topic! It has come up in prior discussions and the way we'd like to implement this is to add an API to upstream rmw that return a void* pointer of the underlying middleware. This would also benefit other middlewares. Do you mind working on a proposal for such an API in https://github.com/ros2/rmw/issues?
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Description
This PR aims to provide an API for accessing the Zenoh session programmatically. It also includes a test to demonstrate its usage.