The Xronos and ROS 2 frameworks can coexist within the same process, and
programs that primarily use Xronos can integrate in larger composition of ROS
nodes by delegating interprocess communication to rclcpp.
The without-xronos directory shows sample code closely based on this
tutorial that simply demonstrates
the tutorial running in Docker without Xronos.
The with-xronos directory shows sample code that lets xronos and rclcpp
coexist within the same process, delegating interprocess communication to
rclcpp.
This example is based on an example from the ROS 2 documentation, which is licensed under the Creative Commons Attribution 4.0 International license.
Changes are licensed under the BSD 3-clause license.