Expose rosidl buffer backend metadata in rmw_zenoh graph endpoint info#988
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nvcyc wants to merge 1 commit into
Open
Expose rosidl buffer backend metadata in rmw_zenoh graph endpoint info#988nvcyc wants to merge 1 commit into
nvcyc wants to merge 1 commit into
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Signed-off-by: CY Chen <cyc@nvidia.com>
Yadunund
approved these changes
Jun 8, 2026
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CI started with: https://gist.githubusercontent.com/Yadunund/c4074b12ea5bdedcddae7b60f60c34bc/raw/c4f2402b3096f2aeb8712d70f611925a704a816a/ros2_ci.repos
CI_BRANCH_TO_TEST: nvcyc/buffer_backend_topic_info
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Description
Expose buffer backend support metadata through
rmw_zenoh_cpptopic endpoint graph info.rmw_zenoh_cppalready advertises and parses buffer backend metadata through liveliness tokens. This change carries that parsed metadata intormw_topic_endpoint_info_twhen handling publisher/subscription endpoint graph queries, allowing higher-level graph APIs andros2 topic info -vto report backend support for Zenoh endpoints.Is this user-facing behavior change?
Yes. Users can inspect Zenoh publisher/subscription endpoint backend support through graph introspection, including
ros2 topic info <topic> -v, once the correspondingrmw,rclpy, and CLI endpoint-info support is present.Did you use Generative AI?
Yes. GPT-5.5 in Cursor was used to help draft changes in this pull request.
Additional Information
Depending on: