From c95523c59a671f556c70b6cf597e0d7a38f15bc4 Mon Sep 17 00:00:00 2001 From: Tomoya Fujita Date: Mon, 2 May 2022 08:44:06 -0700 Subject: [PATCH] add ROS 2 ContentFilteredTopic for Humble Release Note. (#2396) * add ROS 2 ContentFilteredTopic for Humble Release Note. Signed-off-by: Tomoya.Fujita (cherry picked from commit 29c915b5c6211dff68a9885e27886e94c74cbf5e) --- source/Releases/Release-Humble-Hawksbill.rst | 22 +++++++++++++++++++- 1 file changed, 21 insertions(+), 1 deletion(-) diff --git a/source/Releases/Release-Humble-Hawksbill.rst b/source/Releases/Release-Humble-Hawksbill.rst index 7b482d3a202..5964fbd1075 100644 --- a/source/Releases/Release-Humble-Hawksbill.rst +++ b/source/Releases/Release-Humble-Hawksbill.rst @@ -95,6 +95,26 @@ Certificate Revocation Lists (CRLs) are a concept where particular certificates As of Humble, it is now possible to put a CRL in an SROS2 security enclave and have it be honored. See `the SROS2 tutorials `__ for an example of how to use it. +Content Filtered Topics +^^^^^^^^^^^^^^^^^^^^^^^ + +Content Filtered Topics supports a more sophisticated subscription that indicates the subscriber does not want to necessarily see all values of each instance published under the Topic. +Content Filtered Topics can be used to request content-based subscriptions when underlying RMW implementation supports this feature. + +.. list-table:: RMW Content Filtered Topics support + :widths: 25 25 + + * - rmw_fastrtps + - supported + * - rmw_connextdds + - supported + * - rmw_cyclonedds + - not supported + +To learn more, see the `content_filtering `_ examples. + +Related design PR: `ros2/design#282 `_. + Changes since the Galactic release ---------------------------------- @@ -219,7 +239,7 @@ And an example of how the type adapter can be used: 10, [](const std::string & msg) {...}); -To learn more, see the `publisher `_ and `subscription `_) examples, as well as a more complex `demo `_. +To learn more, see the `publisher `_ and `subscription `_ examples, as well as a more complex `demo `_. For more details, see `REP 2007 `_. ``get_callback_groups`` method removed from ``NodeBase`` and ``Node`` classes