How Do I Call the VXWorks API Directly Through ROS2? Like a hardware driver

[zhang125]

Hello, I used ros2 under vxworks for the first time, and I have successfully run ROS2 on qemu, I want to use vxworks api directly in ROS2, such as calling the hardware driver interface to access the hardware, is it feasible? how to do it? thank you!

[razr]

you can use VxWorks as any other POSIX OS to access drivers in the user space. Besides that you can also use VxWorks specific API as described in the documentation. However in this case your ROS 2 node will be not portable