[Service introspection] add writer_guid to rmw_client_t #325
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Signed-off-by: Brian Chen <brian.chen@openrobotics.org>
This was referenced Jul 7, 2022
ivanpauno
reviewed
Jul 13, 2022
14 tasks
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Closing in favor of #327 |
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This PR is a prototype for the service introspection REP (ros-infrastructure/rep#360) implementing the proposed single serialized message approach (ros-infrastructure/rep#360 (comment)).
Currently there is no way to get the client's writer guid from the context of
rcl_send_requestwhich is needed by the proposed service introspection feature to populate the ServiceEventInfoclient_idfield such that an unique identifier for a service event may be built.Connects to ros2/ros2#1285