RMW Implementation Fork for RMW Wrapper

This repository is a fork of https://github.com/ros2/rmw_implementation , maintained to provide an extra feature of a RMW_IMPLEMENTATION_WRAPPER shim library that can be loaded in addition to the RMW_IMPLEMENTATION (DDS, etc.).

This enables e.g. the https://github.com/ros-tooling/graph-monitor/tree/main/rmw_stats_shim to intercept calls to RMW and provide statistics about every node/subscription/publisher in the system.

Development

1. All live rosdistros are supported
2. Branches are called ${ROS_DISTRO}-rmw-wrapper
3. As few modifications are added here as possible
4. All changes here are backported to all live distros
5. Upstream branches are periodically merged in

Updating to latest from upstream

Get sources set up

git clone https://github.com/robograph-project/rmw_implementation
cd rmw_implementation
git remote add ros2 https://github.com/ros2/rmw_implementation

Merge in latest and open PR

git checkout ${ROS_DISTRO}-rmw-wrapper
git checkout -b ${ROS_DISTRO}-merge-latest
git fetch ros2
git merge ros2/${ROS_DISTRO}
# push that branch and open PR

Perform for every distro.