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List:       ros-users
Subject:    [ros-users] [Discourse.ros.org] [Client Libraries] .NET bindings for ROS2
From:       ros () discoursemail ! com (Firesurfer)
Date:       2016-10-27 7:21:49
Message-ID: topic/460/1508 () discourse ! ros ! org
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> From my current understanding also a c++ program written by an end user will \
> usually link only against the default rmw. I'm aware that it is possible to link \
> against a non-default rmw but I'm not sure that this is the intended use for \
> endusers. (There's an issue tracker on github where we discussed this matter and my \
> understanding was that linking against non-default rmw is usually used for testing \
> purposes) 
So the way I'm switching the rmw implementation at the moment is simply recompiling \
ros2 with the RMW_IMPLEMENTATION variable defined.

    export RMW_IMPLEMENTATION="rmw_fastrtps_cpp"

If desired I will implemented a mechanism that allows choosing the rmw implementation \
in C# at runtime. Perhaps @dirk-thomas or @wjwwood could comment on this. \
Implementing the pattern I described in the previous post, will also have the \
advantage that it's possible to have special code paths for different plattforms. \
(For example different library names on windows) So I will probably go for that. 

At the moment there is unfortunatly a lot of other stuff to do for the wrapper. For \
example I'm currently refactoring my message generator to use the C# CodeDom (or in \
future the Roselyn code synthesize interface), furthermore I need to fix the issue \
relating to windows. And there are still a lot of unit-tests that needs to be \
written. So it might be a while before I will implement a mechanism for choosing the \
rmw in the C# code.






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