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rmw_implementation节点
ROS 2 中间件接口的代理实现，将调用转发到所选（和动态加载）的“rmw”实现。“RMW_IMPLEMENTATION”环境变量（如果设置）允许用户选择一个可用的“rmw”实现。 否则，将使用默认的“rmw”实现。请参阅“rmw_implementation_cmake”程序包以了解此默认值。
软件架构说明
https://github.com/ros2/rmw_implementation.git
文件内容:
rmw_implementation/
├── CONTRIBUTING.md
├── LICENSE
├── rmw_implementation
│ ├── CHANGELOG.rst
│ ├── CMakeLists.txt
│ ├── package.xml
│ ├── QUALITY_DECLARATION.md
│ ├── README.md
│ ├── rmw_implementation-extras.cmake.in
│ ├── src
│ │ ├── functions.cpp
│ │ ├── functions.hpp
│ │ └── visibility_control.h
│ └── test
│ ├── benchmark
│ └── test_functions.cpp
└── test_rmw_implementation
├── CHANGELOG.rst
├── CMakeLists.txt
├── package.xml
└── test
├── allocator_testing_utils.h
├── config.hpp
├── test_client.cpp
├── test_create_destroy_node.cpp
├── test_graph_api.cpp
├── testing_macros.hpp
├── test_init_options.cpp
├── test_init_shutdown.cpp
├── test_publisher_allocator.cpp
├── test_publisher.cpp
├── test_serialize_deserialize.cpp
├── test_service.cpp
├── test_subscription_allocator.cpp
├── test_subscription.cpp
├── test_unique_identifiers.cpp
└── test_wait_set.cpp
aarch64:
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_aarch64/aarch64/rmw_implementation/ros-foxy-ros-rmw_implementation-1.0.2-2.oe2203.aarch64.rpm
x86_64:
wget https://117.78.1.88/build/home:Chenjy3_22.03/openEuler_22.03_LTS_standard_x86_64/x86_64/rmw_implementation/ros-foxy-ros-rmw_implementation-1.0.2-2.oe2203.x86_64.rpm
aarch64:
sudo rpm -ivh --nodeps --force ros-foxy-ros-rmw_implementation-1.0.2-2.oe2203.aarch64.rpm
x86_64:
sudo rpm -ivh --nodeps --force ros-foxy-ros-rmw_implementation-1.0.2-2.oe2203.x86_64.rpm
依赖环境安装:
sh /opt/ros/foxy/install_dependence.sh
安装完成以后，在/opt/ros/foxy/目录下如下输出,则表示安装成功。
输出:
rmw_implementation
├── lib
│ └── librmw_implementation.so
└── share
├── ament_index
│ └── resource_index
├── colcon-core
│ └── packages
└── rmw_implementation
├── cmake
├── environment
├── hook
├── local_setup.bash
├── local_setup.dsv
├── local_setup.sh
├── local_setup.zsh
├── package.bash
├── package.dsv
├── package.ps1
├── package.sh
├── package.xml
└── package.zsh
rmw_implementation_cmake
└── share
├── ament_index
│ └── resource_index
├── colcon-core
│ └── packages
└── rmw_implementation_cmake
├── cmake
├── environment
├── hook
├── local_setup.bash
├── local_setup.dsv
├── local_setup.sh
├── local_setup.zsh
├── package.bash
├── package.dsv
├── package.ps1
├── package.sh
├── package.xml
└── package.zsh
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