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Add domain_id to node/init options #206
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A It would also help if we ever wanted to add anything else to contexts in future. |
@Soya-Onishi You haven't yet started with this, correct? Would you be fine with it if I assign this issue to @DS3a? |
Thank you for explaining the issue... I will start with writing a context builder... And then proceed to add the domain_id functionality based on the distro. |
The
domain_id
is a useful option. In ROS distros up to Foxy, it is part of the node options. Afterwards it was moved to the context, or more precisely, the init options. See #186 (comment)We should use the "ros_distro" cfg attribute to add it in the correct place for each distro. I.e. for Foxy, the node builder structure (with a default value of
RMW_DEFAULT_DOMAIN_ID
), and in for Galactic and up, it's open. There is no context builder struct yet, but we could add one. Alternatively, we could makeContext::new()
accept anOption<RosDomainId>
.Additionally, a
domain_id()
getter could be added to the context (Galactic and up) or node (Foxy) that calls the respective rcl function.The text was updated successfully, but these errors were encountered: