transport_drivers

A set of ROS2 drivers for transport-layer protocols. Currently utilizes Boost::ASIO for most transport-layer functionality.

Supported Drivers:

• UDP Driver

  • Tracking PR: https://github.com/ros-drivers/transport_drivers/pull/31
  • Implemented IoContext (The main I/O Context that can be configured as single or multi thread with async task execution support)
  • Implemented UdpSocket (The UDP socket functionality that working in blocking and non-blocking (Async with task execution) modes)
  • Implemented UdpDriver Facade (Facade design pattern implementation that acts as a sender and receiver UDP socket pair container)
  • Implemented ROS2 and raw buffer message converters for Int, UInt and Float variants in std_msgs namespace.
  • Implemented UdpDriverNode example and its test.
  • Implemented IoContext, UdpSocket and UdpDriver tests.

• Serial Driver A package which contains a templated C++ class (which inherits from rclcpp::Node) which encapsulates basic receiving (and soon sending) of serial data.

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