ROS 2 RMW Bridge — Spec Coverage

Sources:

ROS Enhancement Proposals (REPs) — docs/standards/cache/ros2/rep-{2003,2004,2005,2007,2008,2009}.html.
RMW C-API headers — rmw/rmw.h and rmw/qos_profiles.h from rmw 4.x (ROS 2 Iron/Jazzy distribution); they live in the upstream ros2/rmw GitHub repository, not in docs/standards/cache/, as they are a standalone distribution. A de-facto specification without its own REP, normative via the header definitions.
ROS 2 IDL subset — the design article design.ros2.org/articles/idl_interface_definition.html (not cached; live source) + the wire-naming convention from rosidl_typesupport_fastrtps_cpp (de-facto, in the ros2/rosidl GitHub repository).
Topic/service naming convention — the design article design.ros2.org/articles/topic_and_service_names.html (not cached; live source). Implemented in rmw_dds_common.

Context: ROS 2 robot-middleware wrappers build on DDS. The RMW API + the RMW-QoS-profile mapping + the topic-mangling convention + the ROS-IDL→DDS-XTypes wire convention are the central wire mappings. Spread across:

crates/ros2-rmw/ · docs.rs — mapping layer as a pure-Rust no_std+alloc library (RMW API, QoS-profile mapping, topic mangling, ROS-IDL→DDS-XTypes)
crates/rmw-zerodds-shim/ · docs.rs — the rmw_zerodds C-FFI wrapper

Crate mapping:

Spec area	Crate file
REP-2003 Sensor/Map QoS	`crates/ros2-rmw/src/qos_profiles.rs` (profile constants)
REP-2004 quality levels	`crates/ros2-rmw/src/quality.rs`
topic-name mangling convention	`crates/ros2-rmw/src/topic_mangling.rs`
standard RMW QoS profiles	`crates/ros2-rmw/src/qos_profiles.rs::profiles::*`
RMW C-API (`rmw/rmw.h`)	`crates/ros2-rmw/src/ffi_api.rs`
RMW-QoS mapping (`rmw/qos_profiles.h`)	`crates/ros2-rmw/src/rmw_qos_mapping.rs`
ROS-IDL → DDS-XTypes wire mapping	`crates/ros2-rmw/src/type_mapping.rs`

Implementation: crates/ros2-rmw/ (6 modules, 52 tests green via cargo test -p zerodds-ros2-rmw).

REP-2003 Sensor Data and Map QoS Settings

Map QoS

Spec: REP-2003 §“Map Quality of Service” — “Map providers […] are expected to provide all maps over a reliable transient-local topic. […] The depth of the transient-local storage depth is left to the designer, however a single map depth is a reasonable choice”.

Repo: crates/ros2-rmw/src/qos_profiles.rs::profiles::MAP — Reliable + TransientLocal + KeepLast(1).

Tests: qos_profiles::tests::map_profile_matches_rep_2003_specification.

Status: done

Sensor Data QoS (consumer-side)

Spec: REP-2003 §“Sensor Driver Quality of Service” — verbatim: “Sensor data provided by a sensor driver from a camera, inertial measurement unit, laser scanner, GPS, depth, range finder, or other sensors are expected to be provided over a SystemDefaultsQoS quality of service as provided by the implemented ROS 2 version API. Consumers of sensor data are to use SensorDataQoS quality of service as provided by the implemented ROS 2 version API.”

Important: REP-2003 requires SystemDefaultsQoS for the driver-side (= Reliable+Volatile+KeepLast(10), see the DEFAULT item under “Standard RMW QoS Profiles” further below). The consumer-side uses SensorDataQoS (= BestEffort+Volatile+KeepLast(5)). This item describes the consumer-side; the driver-side is covered via profiles::DEFAULT.

Repo: crates/ros2-rmw/src/qos_profiles.rs::profiles::SENSOR_DATA — BestEffort + Volatile + KeepLast(5) (corresponds to rmw_qos_profile_sensor_data from rmw/qos_profiles.h).

Tests: qos_profiles::tests::sensor_data_profile_matches_rep_2003_specification checks the consumer-side constant (BestEffort+Volatile+KeepLast(5)).

Status: done — consumer-side covered; the driver-side is equally covered via the DEFAULT profile (see below).

REP-2004 Package Quality Categories

Quality levels Q1-Q5

Spec: REP-2004 — five levels with the following definitions (quoted from REP-2004 §“Quality Level Categories”):

Quality Level 1 — “highest quality level; packages that are needed for production systems”.
Quality Level 2 — “high quality packages that are either: needed for production systems or commonly used”.
Quality Level 3 — “tooling quality packages”.
Quality Level 4 — “demos, tutorials, and experiments”.
Quality Level 5 — “default quality level” (packages without explicit quality claims).

Numeric representation 1..5; Q1 is the highest, Q5 is the default for packages without an explicitly declared quality level.

Repo: crates/ros2-rmw/src/quality.rs::QualityLevel with numeric()/from_numeric() converters.

Tests: quality::tests::quality_level_numeric_round_trip, quality::tests::quality_level_ordering_q1_is_highest, quality::tests::quality_level_from_numeric_rejects_out_of_range.

Status: done — the classification model is exposed; the actual quality audit is a caller task (e.g. a package.xml tag).

REP-2005 ROS 2 Common Packages

Common-package list

Spec: REP-2005 — informational; a list of the ROS-2 common packages.

Repo: —

Tests: —

Status: n/a (informative) — REP-2005 marks itself as informational; the common-package list has no normative requirement on the RMW bridge.

REP-2007 Type Adaptation Feature

Type adaptation API

Spec: REP-2007 — a compile-time feature in rclcpp (C++) for converting user types to ROS messages on the fly.

Repo: —

Tests: —

Status: n/a (no rmw surface) — REP-2007 Type Adaptation is a compile-time rclcpp template: the conversion happens above rmw (the user type is already a ROS message before it reaches the wire), so there is nothing to implement at the rmw layer. The rmw API that REP-2007 itself specifies (node/identifier/QoS mapping) is fully implemented (all done items above). Not a vendor “reject” — a layer fact.

REP-2008 Hardware Acceleration

HW-accel architecture

Spec: REP-2008 — conventions for GPU/FPGA drivers in ROS 2.

Repo: —

Tests: —

Status: n/a (out of rmw scope) — REP-2008 is a driver/vendor convention for acceleration hardware (GPU/FPGA), lives in the hardware-vendor layer and is orchestrated directly by ROS-2 users (CUDA/ROCm/Vitis), not by the DDS vendor. Unlike REP-2009 there is no rmw surface to implement here.

Endpoint info by topic — `rmw_get_publishers/subscriptions_info_by_topic`

Spec: rmw/get_topic_endpoint_info.h — per topic, the endpoint list with node name/namespace, type, endpoint type, 16-byte GUID and QoS (ros2 topic info -v). Part of the rmw-side REP-2009 responsibility.

Repo: rmw_c/rmw_zerodds.c (rmw_get_publishers_info_by_topic/ _subscriptions_info_by_topic → zerodds_get_endpoint_info_by_topic): enumerates per-endpoint info via rmw_zerodds_node_for_each_publication/subscription_endpoint, filters by the demangled topic, resolves each endpoint’s node identity via rmw_zerodds_node_resolve_endpoint (endpoint GUID → node), and fills rmw_topic_endpoint_info_array_t. Data path: crates/dcps/src/runtime.rs (discovered_publication/subscription_endpoints, local + SEDP-remote) → c-api (zerodds_runtime_for_each_*_endpoint + ZeroDdsEndpointInfo) → shim. The endpoint→node link relies on the ros_discovery_info participant gid being the real DDS participant GUID, with ParticipantEntitiesInfo carrying per-node reader/writer gid sequences (the endpoint GUID prefix matches the participant). QoS is best-effort from discovery (history/depth aren’t on the wire → UNKNOWN).

Tests: crates/py/python/tests/ros2/test_rmw_zerodds_interop.py::test_rclpy_endpoint_info_by_topic (rclpy get_publishers_info_by_topic: type + QoS + the node name/namespace resolved from the endpoint GUID) on ROS 2 Humble; shim roundtrip units participant_info_roundtrips_endpoint_gids / _without_endpoints.

Status: done

REP-2009 Type Negotiation Feature

Type negotiation — rmw-side part (type hash + endpoint info)

Spec: REP-2009 — runtime pub/sub type negotiation. The rmw-side responsibilities are the RIHS type hash and the endpoint type/QoS exposure used to match negotiating endpoints.

Repo: crates/rmw-zerodds-shim/src/lib.rs::rmw_zerodds_compute_type_hash (RIHS SHA-256) + the endpoint-info path (rmw_get_publishers/subscriptions_info_by_topic, see “Endpoint info by topic” above).

Tests: type_hash_sha256_is_deterministic + 2 more (3) + test_rclpy_endpoint_info_by_topic (Humble).

Status: done (rmw-side). The negotiation state machine itself is a runtime feature in rclcpp (the language-binding layer), not an rmw API — available over any RMW; there is no further rmw surface to implement.

Topic-name mangling convention (de-facto, `rmw_dds_common`)

Prefix convention rt/rq/rr/rs

Spec: the design article design.ros2.org/articles/topic_and_service_names.html §“DDS Topic Names” + the de-facto convention from the ros2/rmw_dds_common implementation:

rt/<name> — topic pub-sub (ROS topic).
rq/<name>Request — service request.
rr/<name>Reply — service reply.
rs/<name> — service discovery (legacy, before the REP-2009 structures).

Repo: crates/ros2-rmw/src/topic_mangling.rs::{RosKind, mangle_topic_name, demangle_topic_name, is_ros_topic}.

Tests: topic_mangling::tests::mangle_topic_strips_leading_slash_and_prepends_rt, topic_mangling::tests::mangle_preserves_internal_slashes, topic_mangling::tests::mangle_each_kind_uses_correct_prefix, topic_mangling::tests::mangle_handles_already_unprefixed_name, topic_mangling::tests::mangle_rejects_empty_name, topic_mangling::tests::mangle_rejects_invalid_leading_character, topic_mangling::tests::mangle_accepts_underscore_leading, topic_mangling::tests::demangle_round_trips_all_kinds, topic_mangling::tests::demangle_rejects_unknown_prefix, topic_mangling::tests::is_ros_topic_recognizes_all_four_prefixes, topic_mangling::tests::mangle_demangle_round_trip.

Status: done — the suffixes (Request/Reply) remain a caller task (typically added automatically by the service codegen).

Standard RMW QoS profiles

`rmw_qos_profile_*` constants

Spec: rmw/qos_profiles.h (rmw 4.x) — seven default profiles: rmw_qos_profile_default (Reliable+Volatile+KeepLast(10)), rmw_qos_profile_sensor_data (BestEffort+Volatile+KeepLast(5)), rmw_qos_profile_parameters (Reliable+Volatile+KeepLast(1000)), rmw_qos_profile_services_default (Reliable+Volatile+KeepLast(10)), rmw_qos_profile_parameter_events (Reliable+Volatile+KeepLast(1000)), rmw_qos_profile_system_default (all fields as *_SYSTEM_DEFAULT sentinels; implementation-defined), rmw_qos_profile_unknown (all fields as *_UNKNOWN sentinels).

Tests: qos_profiles::tests::default_profile_is_reliable_volatile_keep_last_10, qos_profiles::tests::parameters_profile_uses_keep_last_1000, qos_profiles::tests::services_default_matches_rmw_defaults, qos_profiles::tests::parameter_events_uses_keep_last_1000, qos_profiles::tests::system_default_aliases_default, qos_profiles::tests::history_keep_last_distinct_from_keep_all, qos_profiles::tests::liveliness_and_deadline_default_to_infinite, qos_profiles::tests::unknown_profile_is_distinct_from_default, qos_profiles::tests::unknown_profile_uses_keep_last_zero_marker, qos_profiles::tests::is_unknown_recognizes_unknown_profile, qos_profiles::tests::is_unknown_rejects_real_profiles.

Status: done — all seven rmw default profiles mapped as constants: * Six 1:1 (DEFAULT, SENSOR_DATA, PARAMETERS, SERVICES_DEFAULT, PARAMETER_EVENTS, MAP). * SYSTEM_DEFAULT as an alias of DEFAULT (the spec allows implementation-defined; ZeroDDS chooses the same values as DEFAULT — a documented choice). * UNKNOWN as a KeepLast(0) marker with the is_unknown predicate.

RMW C-API (`rmw/rmw.h`)

`rmw_ret_t` return codes

Spec: rmw/types.h (rmw 4.x) — rmw_ret_t as an int32 with the values OK=0, ERROR=1, TIMEOUT=2, UNSUPPORTED=3, BAD_ALLOC=10, INVALID_ARGUMENT=11, INCORRECT_RMW_IMPLEMENTATION=12.

Repo: crates/ros2-rmw/src/ffi_api.rs::RmwRet (#[repr(i32)] enum with all seven values + a map_to_rmw_ret converter).

Tests: ffi_api::tests::error_codes_match_rmw_h, ffi_api::tests::ok_is_zero, ffi_api::tests::map_to_rmw_ret_ok, ffi_api::tests::map_to_rmw_ret_err.

Status: done

Implementation identifier (`rmw_get_implementation_identifier`)

Spec: rmw/rmw.h — rmw_get_implementation_identifier() returns a vendor string (convention rmw_<vendor>_cpp, e.g. "rmw_fastrtps_cpp"/"rmw_cyclonedds_cpp"/"rmw_connext_cpp"). The RMW_CHECK_*_FOR_NULL_* macros (in rmw/check_type_identifiers_match.h) check caller-passed strings against this identifier (RMW_RET_INCORRECT_RMW_IMPLEMENTATION on a mismatch).

Repo: crates/ros2-rmw/src/ffi_api.rs::check_rmw_identifier plus the constant RMW_IMPLEMENTATION_IDENTIFIER: &str = "rmw_zerodds_cpp" (follows the vendor-naming convention).

Tests: ffi_api::tests::implementation_identifier_matches_convention, ffi_api::tests::check_rmw_identifier_accepts_correct, ffi_api::tests::check_rmw_identifier_rejects_other_vendor.

Status: done

`rmw_node_t` construction

Spec: rmw/types.h — rmw_node_t struct with an implementation_identifier field + name/namespace/context.

Repo: crates/ros2-rmw/src/ffi_api.rs::RmwNode.

Tests: ffi_api::tests::rmw_node_construction.

Status: done

RMW-QoS mapping (`rmw/qos_profiles.h`)

`rmw_qos_*_policy_t` enums (History/Reliability/Durability)

Spec: rmw/qos_profiles.h — three C enums (rmw_qos_history_policy_t, rmw_qos_reliability_policy_t, rmw_qos_durability_policy_t) with SYSTEM_DEFAULT / KEEP_LAST / KEEP_ALL / RELIABLE / BEST_EFFORT / TRANSIENT_LOCAL / VOLATILE / UNKNOWN / BEST_AVAILABLE values.

Repo: crates/ros2-rmw/src/rmw_qos_mapping.rs::{RmwHistory, RmwReliability, RmwDurability} (#[repr(u32)] enums with all spec-conformant discriminants).

Tests: rmw_qos_mapping::tests::enum_repr_is_c_compatible.

Status: done

`rmw_to_dds` conversion + `BEST_AVAILABLE` handling

Spec: rmw/qos_profiles.h + design article — rmw_qos_profile_t is the ROS-2-side representation; it must be mapped bidirectionally onto the DDS QosProfile. BEST_AVAILABLE (Iron+) is resolved to BEST_EFFORT on the sender side.

Repo: crates/ros2-rmw/src/rmw_qos_mapping.rs::{rmw_to_dds, dds_to_rmw, RmwQosProfile}.

Tests: rmw_qos_mapping::tests::rmw_to_dds_round_trip_default, rmw_qos_mapping::tests::rmw_to_dds_keep_all_passes_through, rmw_qos_mapping::tests::rmw_system_default_maps_to_dds_reliable, rmw_qos_mapping::tests::rmw_best_available_maps_to_best_effort_on_sender, rmw_qos_mapping::tests::transient_local_round_trips, rmw_qos_mapping::tests::sensor_data_is_best_effort, rmw_qos_mapping::tests::services_default_uses_keep_last_10, rmw_qos_mapping::tests::parameters_uses_keep_last_1000, rmw_qos_mapping::tests::default_profile_matches_rmw_spec.

Status: done

ROS-IDL → DDS-XTypes wire mapping

Sub-namespace convention (msg/srv/action)

Spec: the ROS 2 design article design.ros2.org/articles/idl_interface_definition.html §“Naming” — top-level namespaces msg/, srv/, action/ with the convention onto the DDS wire <package>::<sub-namespace>::dds_::<TypeName>_.

Repo: crates/ros2-rmw/src/type_mapping.rs::RosNamespace with as_str()/from_str() converters; RosTypeRef::to_dds_type_name for the DDS wire form.

Tests: type_mapping::tests::namespace_str_repr, type_mapping::tests::dds_wire_form_uses_dds_dunder, type_mapping::tests::action_namespace_mapped_correctly, type_mapping::tests::srv_namespace_mapped_correctly.

Status: done

ROS-form → DDS-form round-trip

Spec: design article — conversion between the ROS wire form (std_msgs/msg/String) and the DDS wire form (see above). Round-trip mandatory.

Repo: crates/ros2-rmw/src/type_mapping.rs::{RosTypeRef::new, to_ros_form, from_ros_form}.

Tests: type_mapping::tests::ros_form_round_trip, type_mapping::tests::from_ros_form_rejects_unknown_namespace, type_mapping::tests::from_ros_form_rejects_wrong_segment_count.

Status: done

Builtin type tokens (`int32`, `float64`, `string`, …)

Spec: design article §“Field Types” — builtin type tokens (bool, byte, char, float32/float64, int8-uint64, string, wstring) map onto the DDS-IDL primitives.

Repo: crates/ros2-rmw/src/type_mapping.rs::RosBuiltinType with a from_ros_token() parser and a cdr_size helper.

Tests: type_mapping::tests::from_ros_token_round_trip, type_mapping::tests::from_ros_token_rejects_unknown, type_mapping::tests::cdr_size_matches_omg_cdr2, type_mapping::tests::builtin_idl_names_match_omg_idl.

Status: done — rosidl builtin → OMG IDL 4.2 / DDS-XTypes 1.3 primitive mapping verified.

RMW C-ABI plugin (`crates/rmw-zerodds-shim`)

The 14 items above cover the wire-mapping crate (crates/ros2-rmw). The actual rmw_* C-ABI plugin layer (rmw_c/rmw_zerodds.c bridges onto the Rust bridge src/lib.rs) is tracked separately here. Verification: rclpy interop pytest on ROS 2 Humble (crates/py/python/tests/ros2/), 4/4 green.

`rmw_wait` — event-driven

Spec: rmw/rmw.h rmw_wait (de facto) — blocks until an entity is ready or times out.

Repo: crates/rmw-zerodds-shim/rmw_c/rmw_zerodds.c (rmw_wait) + src/lib.rs (WaitNotify, subscription_on_data, rmw_zerodds_*_has_data, rmw_zerodds_context_wait_block) — reader data listener → per-subscription inbox → context condvar; no spin, no fixed-tick poll. For the raw delivery modes (RawSameHost/Iceoryx), which do not fire the RTPS listener, a doorbell thread (rmw_zerodds_subscription_start_doorbell → zerodds_reader_raw_wait) additionally wakes the same condvar event-driven (see “Loaned messages” below).

Tests: rmw-zerodds-shim::tests::event_driven_wait_roundtrip_inprocess, wait_notify_blocks_then_wakes_on_notify; rclpy test_rclpy_publish_subscribe_string_roundtrip (the executor drives rmw_wait).

Status: done

Services — request/reply

Spec: rmw/rmw.h rmw_create_client/service, rmw_send_request, rmw_take_request, rmw_send_response, rmw_take_response, rmw_service_server_is_available.

Repo: rmw_zerodds.c (service typesupport introspection + 24-byte correlation header [client_gid:16][seq:8] + CDR) + src/lib.rs (RmwZerodsClient/Service with a listener inbox, rmw_zerodds_send_request etc.).

Tests: rmw-zerodds-shim::tests::service_request_reply_roundtrip_inprocess; rclpy test_rclpy_service_call_roundtrip (AddTwoInts 41+1=42).

Status: done

`rmw_serialize` / `rmw_deserialize` + serialized publish/take

Spec: rmw/rmw.h rmw_serialize, rmw_deserialize, rmw_publish_serialized_message, rmw_take_serialized_message[_with_info].

Repo: rmw_zerodds.c (introspection CDR [encap 4][body], cdr_ser_msg/cdr_de_msg; serialized pub/take over the bridge byte path).

Tests: the same introspection CDR as the verified pub/sub path (test_rclpy_publish_subscribe_string_roundtrip).

Status: done

Topic graph — `rmw_get_topic_names_and_types` + `rmw_count_publishers/subscribers`

Spec: rmw/rmw.h graph introspection.

Repo: crates/dcps/src/runtime.rs (discovered_publication_topics/discovered_subscription_topics — local user endpoints + SEDP-remote), c-api zerodds_runtime_for_each_publication/ _subscription, rmw_zerodds.c (demangle rt/<t>→/<t>, ::/__→/, dedup topic→types).

Tests: rclpy test_rclpy_topic_graph_introspection.

Status: done

Guard conditions + event-driven wake

Repo: rmw_zerodds.c (rmw_create/trigger_guard_condition → context_notify wakes the wait condvar).

Tests: covered via the rmw_wait path.

Status: done

`rmw_get_node_names` + `_with_enclaves`

Spec: rmw/rmw.h rmw_get_node_names[_with_enclaves].

Repo: rmw_zerodds.c (rmw_get_node_names, accumulator) + src/lib.rs (NodeGraph, encode/decode_participant_info, discovery_on_data, rmw_zerodds_for_each_node) — each context publishes its ParticipantEntitiesInfo on ros_discovery_info (hand-encoded XCDR1) and aggregates local + remote nodes.

Tests: rclpy test_rclpy_node_names_graph.

Status: done — note: the discovery writer is volatile (c-api default); cross-process late-join would be more robust with transient_local (refinement).

`on_new_message/request/response` callbacks (events executor)

Spec: rmw/rmw.h rmw_*_set_on_new_*_callback.

Repo: rmw_zerodds.c (3 setters → bridge) + src/lib.rs (SubInbox.event, inbox_set_event, invoked in subscription_on_data).

Tests: rmw-zerodds-shim::tests::event_callback_fires_on_arrival.

Status: done

`rmw_get_serialized_message_size`

Spec: rmw/rmw.h rmw_get_serialized_message_size.

Repo: rmw_zerodds.c (zerodds_cdr_max_msg — introspection size walk, conservative upper bound; strings/sequences capped).

Tests: via the verified serialize path (same member traversal).

Status: done

Typed message loaning (`rmw_borrow/publish/take_loaned_message`)

Spec: rmw/rmw.h loaned-message API + can_loan_messages. Delivery shape: docs/specs/zerodds-delivery-modes-1.0.md (modes Portable/RawSameHost/Iceoryx).

Repo: rmw_c/rmw_zerodds.c (rmw_borrow/publish/take_loaned_message, rmw_return_loaned_message_from_publisher/subscription, can_loan_messages = fixed-POD from rosidl introspection) + the SHM bridge in src/lib.rs (rmw_zerodds_publisher_enable_raw_loan/_loan/_commit/_discard, rmw_zerodds_subscription_enable_shm/_take_shm/_has_shm_data/_release_shm), feature flatdata-loan (default). Tests: rmw_c/loaned_message_test.cpp + run_loaned_message_test.sh (rclcpp e2e, both modes green).

Status: done — the loaned-message ABI is implemented and e2e verified, in two delivery modes (default via ZERODDS_DELIVERY_MODE):

Portable (default): rclcpp hands over a typed struct buffer, the user writes the struct, publish_loaned serializes struct→CDR and publishes over RTPS — interop-safe (cross-host/cross-vendor), real CDR on the wire. (can_loan=1 got=42 PASS.)
RawSameHost (real zero-copy/zero-serialize, same-host only): the writer is set to set_delivery_mode(RawSameHost) + enable_shm_loan; borrow returns a pointer into the POSIX-SHM slot (the user writes the struct directly into shared memory), commit finalizes in-place without serialization and without RTPS (c-api publishes_to_wire gate → no double-delivery). The reader maps the same segment via a deterministic topic-derived flink path (lazy attach) and reads the slot zero-copy (take_loaned) or with a struct memcpy for normal callbacks (rmw_take). (can_loan=1 got=42 PASS, proof of SHM: raw never goes on the wire.)
Iceoryx (same-host cross-stack, shim feature delivery-iceoryx): the same loan/commit/take path, but writer/reader are bound to an iceoryx2 service (topic-derived) — commit sends over iceoryx2, the reader receives from it. Without the feature, ZERODDS_DELIVERY_MODE=iceoryx degrades on both sides to Portable. (can_loan=1 got=42 PASS via ZERODDS_TEST_ICEORYX=1.)

Readiness (modes 1/2): event-driven. Per raw subscription a “doorbell” thread parks on zerodds_reader_raw_wait(reader, timeout_ms) (c-api), which blocks on the raw source — SHM change-generation futex (notify_generation/wait_for_change) or iceoryx2 listener — and wakes rmw_wait’s context condvar on a real arrival; the sender notifies the iceoryx2 event on commit. The doorbell is started lazily once the raw source is active and stopped + joined before the reader is destroyed (it holds the reader pointer). Since iceoryx2’s take is a destructive FIFO receive, readiness additionally prefetches exactly one sample into a non-consuming, idempotent pending buffer of the subscription; rmw_take/ take_loaned consume the held sample. So a blocking rclcpp spin() also wakes on raw-only data without the executor timeout.

Audit status

26 done / 0 partial / 0 open / 1 n/a (informative) / 2 n/a (out of rmw scope: REP-2007 type adaptation, REP-2008 HW accel).

Test run: cargo test -p zerodds-ros2-rmw (52 green) + cargo test -p rmw-zerodds-shim (23 green — shim unit incl. event-driven wait, service roundtrip, event callback, context-lifecycle regression, endpoint-gid roundtrip) + rclpy interop crates/py/python/tests/ros2/ on ROS 2 Humble (6 green: init, pub/sub, service call, topic graph, node names, endpoint info) via run_ros2_pytest.sh + rclcpp loan e2e via run_loaned_message_test.sh (Portable + RawSameHost + ZERODDS_TEST_ICEORYX=1 Iceoryx, each can_loan=1 got=42 PASS).

No open rmw item; all three delivery modes (Portable/RawSameHost/Iceoryx) are rmw-side wired + e2e verified, and the raw readiness is event-driven (doorbell thread on zerodds_reader_raw_wait, SHM futex or iceoryx2 listener) — closing the last open delivery-modes refinement (docs/specs/zerodds-delivery-modes-1.0.md). Decision records (REP-2007/2008/2009 — features live in rclcpp over RMW, integrable via the rmw_zerodds FFI): see ros2-rmw.open.md.

ROS 2 RMW Bridge — Spec-Coverage

Quellen:

ROS Enhancement Proposals (REPs) — docs/standards/cache/ros2/rep-{2003,2004,2005,2007,2008,2009}.html.
RMW C-API Headers — rmw/rmw.h und rmw/qos_profiles.h aus rmw 4.x (ROS 2 Iron/Jazzy Distribution); leben im upstream ros2/rmw-GitHub-Repository, nicht in docs/standards/cache/, da eigenständige Distribution. De-facto-Spezifikation ohne eigene REP, normativ über die Header-Definitionen.
ROS 2 IDL Subset — Design-Article design.ros2.org/articles/ idl_interface_definition.html (nicht im Cache; live-Quelle) + Wire-Naming-Convention aus rosidl_typesupport_fastrtps_cpp (de-facto, in ros2/rosidl-GitHub-Repository).
Topic/Service-Naming-Convention — Design-Article design.ros2.org/articles/topic_and_service_names.html (nicht im Cache; live-Quelle). Implementiert in rmw_dds_common.

Folgt dem Format aus docs/spec-coverage/PROCESS.md.

Kontext: ROS 2 Robot-Middleware-Wrapper bauen auf DDS auf. Die RMW-API + RMW-QoS-Profile-Mapping + Topic-Mangling-Convention + ROS-IDL→DDS-XTypes-Wire-Convention sind die zentralen Wire-Mappings. Verteilt über:

crates/ros2-rmw/ · docs.rs — Mapping-Layer als pure-Rust no_std+alloc Library (RMW-API, QoS-Profile-Mapping, Topic-Mangling, ROS-IDL→DDS-XTypes)
crates/rmw-zerodds-shim/ · docs.rs — rmw_zerodds-C-FFI-Wrapper

Crate-Mapping:

Spec-Bereich	Crate-File
REP-2003 Sensor/Map QoS	`crates/ros2-rmw/src/qos_profiles.rs` (Profile-Konstanten)
REP-2004 Quality-Levels	`crates/ros2-rmw/src/quality.rs`
Topic-Name-Mangling Convention	`crates/ros2-rmw/src/topic_mangling.rs`
Standard RMW QoS Profiles	`crates/ros2-rmw/src/qos_profiles.rs::profiles::*`
RMW C-API (`rmw/rmw.h`)	`crates/ros2-rmw/src/ffi_api.rs`
RMW-QoS-Mapping (`rmw/qos_profiles.h`)	`crates/ros2-rmw/src/rmw_qos_mapping.rs`
ROS-IDL → DDS-XTypes Wire-Mapping	`crates/ros2-rmw/src/type_mapping.rs`

Implementation: crates/ros2-rmw/ (6 Module, 52 Tests grün via cargo test -p zerodds-ros2-rmw).

REP-2003 Sensor Data and Map QoS Settings

Map QoS

Repo: crates/ros2-rmw/src/qos_profiles.rs::profiles::MAP — Reliable + TransientLocal + KeepLast(1).

Tests: qos_profiles::tests::map_profile_matches_rep_2003_specification.

Status: done

Sensor Data QoS (Consumer-Side)

Spec: REP-2003 §“Sensor Driver Quality of Service” — wörtlich: “Sensor data provided by a sensor driver from a camera, inertial measurement unit, laser scanner, GPS, depth, range finder, or other sensors are expected to be provided over a SystemDefaultsQoS quality of service as provided by the implemented ROS 2 version API. Consumers of sensor data are to use SensorDataQoS quality of service as provided by the implemented ROS 2 version API.”

Wichtig: REP-2003 verlangt für Driver-Side SystemDefaultsQoS (= Reliable+Volatile+KeepLast(10), siehe DEFAULT-Item unter “Standard RMW QoS Profiles” weiter unten). Die Consumer-Side verwendet SensorDataQoS (= BestEffort+Volatile+KeepLast(5)). Dieses Item beschreibt die Consumer-Side; die Driver-Side ist via profiles::DEFAULT abgedeckt.

Repo: crates/ros2-rmw/src/qos_profiles.rs::profiles::SENSOR_DATA — BestEffort + Volatile + KeepLast(5) (entspricht rmw_qos_profile_sensor_data aus rmw/qos_profiles.h).

Tests: qos_profiles::tests::sensor_data_profile_matches_rep_2003_specification prüft die Consumer-Side-Konstante (BestEffort+Volatile+KeepLast(5)).

Status: done — Consumer-Side abgedeckt; Driver-Side ist über DEFAULT-Profile (siehe unten) gleichermaßen abgedeckt.

REP-2004 Package Quality Categories

Quality Levels Q1-Q5

Spec: REP-2004 — fünf Levels mit folgenden Definitionen (zitiert aus REP-2004 §“Quality Level Categories”):

Quality Level 1 — “highest quality level; packages that are needed for production systems”.
Quality Level 2 — “high quality packages that are either: needed for production systems or commonly used”.
Quality Level 3 — “tooling quality packages”.
Quality Level 4 — “demos, tutorials, and experiments”.
Quality Level 5 — “default quality level” (Pakete ohne explizite Quality-Claims).

Numerische Repräsentation 1..5; Q1 ist die höchste, Q5 ist der Default für Pakete ohne explizit deklariertes Quality-Niveau.

Repo: crates/ros2-rmw/src/quality.rs::QualityLevel mit numeric()/from_numeric()-Konvertern.

Tests: quality::tests::quality_level_numeric_round_trip, quality::tests::quality_level_ordering_q1_is_highest, quality::tests::quality_level_from_numeric_rejects_out_of_range.

Status: done — Klassifikations-Modell exposed; tatsächliche Quality-Audit ist Caller-Aufgabe (z.B. package.xml-Tag).

REP-2005 ROS 2 Common Packages

Common-Package-List

Spec: REP-2005 — informational; Liste der ROS-2-Common-Packages.

Repo: —

Tests: —

Status: n/a (informative) — REP-2005 markiert sich selbst als informational; Common-Package-Liste ohne normative Anforderung an die RMW-Bridge.

REP-2007 Type Adaptation Feature

Type Adaptation API

Spec: REP-2007 — Compile-Time-Feature in rclcpp (C++) zur Konversion von User-Types zu ROS-Messages on-the-fly.

Repo: —

Tests: —

Status: n/a (keine rmw-Fläche) — REP-2007 Type-Adaptation ist ein Compile-Time-rclcpp-Template: die Konversion passiert über rmw (der User-Type ist schon eine ROS-Message, bevor er den Draht erreicht), es gibt also nichts auf der rmw-Schicht umzusetzen. Die rmw-API, die REP-2007 selbst spezifiziert (Node/Identifier/QoS-Mapping), ist vollständig implementiert (alle done-Items oben). Kein Vendor-„Reject”, sondern eine Schicht-Tatsache.

REP-2008 Hardware Acceleration

HW-Accel Architecture

Spec: REP-2008 — Conventions für GPU/FPGA-Drivers in ROS 2.

Repo: —

Tests: —

Status: n/a (out of rmw scope) — REP-2008 ist eine Driver-/Vendor-Konvention für Acceleration-Hardware (GPU/FPGA), lebt in der Hardware-Vendor-Schicht und wird durch ROS-2-Anwender direkt orchestriert (CUDA/ROCm/Vitis), nicht durch den DDS-Vendor. Hier gibt es — anders als bei REP-2009 — keine rmw-Fläche umzusetzen.

Endpoint info by topic — `rmw_get_publishers/subscriptions_info_by_topic`

Spec: rmw/get_topic_endpoint_info.h — pro Topic die Endpoint-Liste mit Node-Name/-Namespace, Typ, Endpoint-Typ, 16-Byte-GUID und QoS (ros2 topic info -v). Teil der rmw-seitigen REP-2009-Verantwortung.

Repo: rmw_c/rmw_zerodds.c (rmw_get_publishers_info_by_topic/ _subscriptions_info_by_topic → zerodds_get_endpoint_info_by_topic): enumeriert pro-Endpoint via rmw_zerodds_node_for_each_publication/subscription_endpoint, filtert auf das demanglede Topic, löst pro Endpoint die Node-Identität über rmw_zerodds_node_resolve_endpoint (Endpoint-GUID → Node) auf und füllt rmw_topic_endpoint_info_array_t. Datenpfad: crates/dcps/src/runtime.rs (discovered_publication/subscription_endpoints, lokal + SEDP-remote) → c-api (zerodds_runtime_for_each_*_endpoint + ZeroDdsEndpointInfo) → Shim. Voraussetzung Endpoint→Node: die ros_discovery_info-Participant-gid ist die echte DDS-Participant-GUID, und ParticipantEntitiesInfo trägt pro Node die reader/writer-gid-Sequenzen (Endpoint-GUID-Prefix matcht den Participant). QoS ist best-effort aus der Discovery (History/Depth liegen nicht auf dem Draht → UNKNOWN).

Tests: crates/py/python/tests/ros2/test_rmw_zerodds_interop.py::test_rclpy_endpoint_info_by_topic (rclpy get_publishers_info_by_topic: Typ + QoS + aus der Endpoint-GUID aufgelöster Node-Name/-Namespace) auf ROS 2 Humble; Shim-Roundtrip-Units participant_info_roundtrips_endpoint_gids / _without_endpoints.

Status: done

REP-2009 Type Negotiation Feature

Type Negotiation — rmw-seitiger Teil (Type-Hash + Endpoint-Info)

Spec: REP-2009 — Runtime-Pub/Sub-Type-Negotiation. Die rmw-seitigen Verantwortlichkeiten sind der RIHS-Type-Hash und die Endpoint-Typ-/QoS-Exposition, über die negotiating Endpoints gematcht werden.

Repo: crates/rmw-zerodds-shim/src/lib.rs::rmw_zerodds_compute_type_hash (RIHS SHA-256) + der Endpoint-Info-Pfad (rmw_get_publishers/subscriptions_info_by_topic, siehe „Endpoint info by topic” oben).

Tests: type_hash_sha256_is_deterministic + 2 weitere (3) + test_rclpy_endpoint_info_by_topic (Humble).

Status: done (rmw-seitig). Die Negotiation-State-Machine selbst ist ein Runtime-Feature in rclcpp (Sprach-Binding-Layer), keine rmw-API — verfügbar über jeden RMW; darüber hinaus gibt es keine rmw-Fläche umzusetzen.

Topic-Name-Mangling Convention (de-facto, `rmw_dds_common`)

Prefix-Convention rt/rq/rr/rs

Spec: Design-Article design.ros2.org/articles/ topic_and_service_names.html §“DDS Topic Names” + de-facto-Konvention aus ros2/rmw_dds_common-Implementation:

rt/<name> — Topic-Pub-Sub (ROS-Topic).
rq/<name>Request — Service-Request.
rr/<name>Reply — Service-Reply.
rs/<name> — Service-Discovery (legacy, vor REP-2009-Strukturen).

Repo: crates/ros2-rmw/src/topic_mangling.rs::{RosKind, mangle_topic_name, demangle_topic_name, is_ros_topic}.

Status: done — Suffixe (Request/Reply) bleiben Caller-Aufgabe (typisch automatisch vom Service-Codegen ergänzt).

Standard RMW QoS Profiles

`rmw_qos_profile_*` Konstanten

Spec: rmw/qos_profiles.h (rmw 4.x) — sieben Default-Profiles: rmw_qos_profile_default (Reliable+Volatile+KeepLast(10)), rmw_qos_profile_sensor_data (BestEffort+Volatile+KeepLast(5)), rmw_qos_profile_parameters (Reliable+Volatile+KeepLast(1000)), rmw_qos_profile_services_default (Reliable+Volatile+KeepLast(10)), rmw_qos_profile_parameter_events (Reliable+Volatile+KeepLast(1000)), rmw_qos_profile_system_default (alle Felder als *_SYSTEM_DEFAULT-Sentinel; Implementation-defined), rmw_qos_profile_unknown (alle Felder als *_UNKNOWN-Sentinel).

Repo: crates/ros2-rmw/src/qos_profiles.rs::profiles::* (DEFAULT, SENSOR_DATA, PARAMETERS, SERVICES_DEFAULT, PARAMETER_EVENTS, SYSTEM_DEFAULT, UNKNOWN, MAP) + is_unknown/is_system_default-Predicates. Die Policy-Enums (Reliability/Durability/History) tragen echte SystemDefault- und Unknown-Sentinel-Varianten (spec-treu zu rmw_qos_*_policy_t); rmw_qos_mapping::rmw_to_dds reicht sie durch (Auflösung erst bei DDS-Entity-Erzeugung).

Tests: qos_profiles::tests::default_profile_is_reliable_volatile_keep_last_10, parameters_profile_uses_keep_last_1000, services_default_matches_rmw_defaults, parameter_events_uses_keep_last_1000, system_default_is_all_sentinels, unknown_profile_is_all_unknown, system_default_and_unknown_are_distinct, is_unknown_recognizes_unknown_profile, is_unknown_rejects_real_and_system_default_profiles; rmw_qos_mapping::tests::rmw_system_default_passes_through_as_sentinel, rmw_unknown_passes_through_as_sentinel.

Status: done — alle sieben rmw-Default-Profiles spec-treu: * Sechs konkret 1:1 (DEFAULT, SENSOR_DATA, PARAMETERS, SERVICES_DEFAULT, PARAMETER_EVENTS, MAP). * SYSTEM_DEFAULT = jedes Feld als *_SYSTEM_DEFAULT-Sentinel (nicht mehr Alias zu DEFAULT) → der DDS-Implementations-Default jedes Feldes greift. * UNKNOWN = jedes Feld als *_UNKNOWN-Sentinel + is_unknown-Predicate.

RMW C-API (`rmw/rmw.h`)

`rmw_ret_t` Return-Codes

Spec: rmw/types.h (rmw 4.x) — rmw_ret_t als int32 mit den Werten OK=0, ERROR=1, TIMEOUT=2, UNSUPPORTED=3, BAD_ALLOC=10, INVALID_ARGUMENT=11, INCORRECT_RMW_IMPLEMENTATION=12.

Repo: crates/ros2-rmw/src/ffi_api.rs::RmwRet (#[repr(i32)]- Enum mit allen sieben Werten + map_to_rmw_ret-Konverter).

Tests: ffi_api::tests::error_codes_match_rmw_h, ffi_api::tests::ok_is_zero, ffi_api::tests::map_to_rmw_ret_ok, ffi_api::tests::map_to_rmw_ret_err.

Status: done

Implementation-Identifier (`rmw_get_implementation_identifier`)

Spec: rmw/rmw.h — rmw_get_implementation_identifier() liefert Vendor-String (Konvention rmw_<vendor>_cpp, z.B. "rmw_fastrtps_cpp"/"rmw_cyclonedds_cpp"/"rmw_connext_cpp"). RMW_CHECK_*_FOR_NULL_*-Macros (in rmw/check_type_identifiers_match.h) prüfen Caller-übergebene Strings gegen diesen Identifier (RMW_RET_INCORRECT_RMW_IMPLEMENTATION bei Mismatch).

Repo: crates/ros2-rmw/src/ffi_api.rs::check_rmw_identifier plus Konstante RMW_IMPLEMENTATION_IDENTIFIER: &str = "rmw_zerodds_cpp" (folgt der Vendor-Naming-Convention).

Tests: ffi_api::tests::implementation_identifier_matches_convention, ffi_api::tests::check_rmw_identifier_accepts_correct, ffi_api::tests::check_rmw_identifier_rejects_other_vendor.

Status: done

`rmw_node_t` Construction

Spec: rmw/types.h — rmw_node_t-Struct mit implementation_identifier-Feld + name/namespace/context.

Repo: crates/ros2-rmw/src/ffi_api.rs::RmwNode.

Tests: ffi_api::tests::rmw_node_construction.

Status: done

RMW-QoS-Mapping (`rmw/qos_profiles.h`)

`rmw_qos_*_policy_t`-Enums (History/Reliability/Durability)

Spec: rmw/qos_profiles.h — drei C-Enums (rmw_qos_history_policy_t, rmw_qos_reliability_policy_t, rmw_qos_durability_policy_t) mit SYSTEM_DEFAULT / KEEP_LAST / KEEP_ALL / RELIABLE / BEST_EFFORT / TRANSIENT_LOCAL / VOLATILE / UNKNOWN / BEST_AVAILABLE-Werten.

Repo: crates/ros2-rmw/src/rmw_qos_mapping.rs::{RmwHistory, RmwReliability, RmwDurability} (#[repr(u32)]-Enums mit allen spec-konformen Diskriminanten).

Tests: rmw_qos_mapping::tests::enum_repr_is_c_compatible.

Status: done

`rmw_to_dds`-Konversion + `BEST_AVAILABLE`-Handling

Spec: rmw/qos_profiles.h + Design-Article — rmw_qos_profile_t ist die ROS-2-Side-Repräsentation; muss bidirektional auf DDS-QosProfile abgebildet werden. BEST_AVAILABLE (Iron+) wird auf Sender-Seite zu BEST_EFFORT resolved.

Repo: crates/ros2-rmw/src/rmw_qos_mapping.rs::{rmw_to_dds, dds_to_rmw, RmwQosProfile}.

Status: done

ROS-IDL → DDS-XTypes Wire-Mapping

Sub-Namespace-Convention (msg/srv/action)

Spec: ROS 2 Design-Article design.ros2.org/articles/idl_interface_definition.html §“Naming” — Top-Level-Namespaces msg/, srv/, action/ mit Convention auf DDS-Wire <package>::<sub-namespace>::dds_::<TypeName>_.

Repo: crates/ros2-rmw/src/type_mapping.rs::RosNamespace mit as_str()/from_str()-Konvertern; RosTypeRef::to_dds_type_name für die DDS-Wire-Form.

Status: done

ROS-Form → DDS-Form Round-Trip

Spec: Design-Article — Konvertierung zwischen ROS-Wire-Form (std_msgs/msg/String) und DDS-Wire-Form (siehe oben). Roundtrip- Pflicht.

Repo: crates/ros2-rmw/src/type_mapping.rs::{RosTypeRef::new, to_ros_form, from_ros_form}.

Tests: type_mapping::tests::ros_form_round_trip, type_mapping::tests::from_ros_form_rejects_unknown_namespace, type_mapping::tests::from_ros_form_rejects_wrong_segment_count.

Status: done

Builtin-Type-Tokens (`int32`, `float64`, `string`, …)

Spec: Design-Article §“Field Types” — Builtin-Type-Tokens (bool, byte, char, float32/float64, int8-uint64, string, wstring) mappen auf DDS-IDL-Primitive.

Repo: crates/ros2-rmw/src/type_mapping.rs::RosBuiltinType mit from_ros_token()-Parser und cdr_size-Helper.

Status: done — rosidl-Builtin → OMG-IDL-4.2-/DDS-XTypes-1.3-Primitive- Mapping verifiziert.

RMW C-ABI Plugin (`crates/rmw-zerodds-shim`)

Die obigen 14 Items decken den Wire-Mapping-Crate (crates/ros2-rmw) ab. Die eigentliche rmw_*-C-ABI-Plugin-Schicht (rmw_c/rmw_zerodds.c brückt auf die Rust-Bridge src/lib.rs) ist hier separat geführt. Verifikation: rclpy- Interop-Pytest auf ROS 2 Humble (crates/py/python/tests/ros2/), 4/4 grün.

`rmw_wait` — event-driven

Spec: rmw/rmw.h rmw_wait (de-facto) — blockiert bis eine Entity ready ist oder Timeout.

Repo: crates/rmw-zerodds-shim/rmw_c/rmw_zerodds.c (rmw_wait) + src/lib.rs (WaitNotify, subscription_on_data, rmw_zerodds_*_has_data, rmw_zerodds_context_wait_block) — Reader-Daten-Listener → per-Subscription- Inbox → Context-Condvar; kein Spin, kein Fixed-Tick-Poll. Für die Raw-Delivery-Modi (RawSameHost/Iceoryx), die den RTPS-Listener nicht feuern, weckt zusätzlich ein Doorbell-Thread (rmw_zerodds_subscription_start_doorbell → zerodds_reader_raw_wait) dieselbe Condvar event-getrieben (siehe „Loaned Messages” unten).

Status: done

Services — Request/Reply

Spec: rmw/rmw.h rmw_create_client/service, rmw_send_request, rmw_take_request, rmw_send_response, rmw_take_response, rmw_service_server_is_available.

Repo: rmw_zerodds.c (Service-Typesupport-Introspection + 24-Byte- Korrelations-Header [client_gid:16][seq:8] + CDR) + src/lib.rs (RmwZerodsClient/Service mit Listener-Inbox, rmw_zerodds_send_request etc.).

Tests: rmw-zerodds-shim::tests::service_request_reply_roundtrip_inprocess; rclpy test_rclpy_service_call_roundtrip (AddTwoInts 41+1=42).

Status: done

`rmw_serialize` / `rmw_deserialize` + serialized publish/take

Spec: rmw/rmw.h rmw_serialize, rmw_deserialize, rmw_publish_serialized_message, rmw_take_serialized_message[_with_info].

Repo: rmw_zerodds.c (Introspection-CDR [encap 4][body], cdr_ser_msg/cdr_de_msg; serialized pub/take über den Bridge-Byte-Pfad).

Tests: dieselbe Introspection-CDR wie der verifizierte pub/sub-Pfad (test_rclpy_publish_subscribe_string_roundtrip).

Status: done

Topic-Graph — `rmw_get_topic_names_and_types` + `rmw_count_publishers/subscribers`

Spec: rmw/rmw.h Graph-Introspektion.

Repo: crates/dcps/src/runtime.rs (discovered_publication_topics/discovered_subscription_topics — lokale User-Endpoints + SEDP-remote), c-api zerodds_runtime_for_each_publication/ _subscription, rmw_zerodds.c (Demangle rt/<t>→/<t>, ::/__→/, dedup topic→types).

Tests: rclpy test_rclpy_topic_graph_introspection.

Status: done

Guard-Conditions + event-driven Wake

Repo: rmw_zerodds.c (rmw_create/trigger_guard_condition → context_notify weckt die Wait-Condvar).

Tests: über den rmw_wait-Pfad mitgetestet.

Status: done

`rmw_get_node_names` + `_with_enclaves`

Spec: rmw/rmw.h rmw_get_node_names[_with_enclaves].

Repo: rmw_zerodds.c (rmw_get_node_names, Accumulator) + src/lib.rs (NodeGraph, encode/decode_participant_info, discovery_on_data, rmw_zerodds_for_each_node) — jeder Context publiziert seine ParticipantEntitiesInfo auf ros_discovery_info (hand-encodiertes XCDR1) und aggregiert lokale + remote Nodes.

Tests: rclpy test_rclpy_node_names_graph.

Status: done — Hinweis: discovery-Writer ist volatile (c-api-Default); cross-Prozess-late-join wäre mit transient_local robuster (Verfeinerung).

`on_new_message/request/response`-Callbacks (Events-Executor)

Spec: rmw/rmw.h rmw_*_set_on_new_*_callback.

Repo: rmw_zerodds.c (3 Setter → Bridge) + src/lib.rs (SubInbox.event, inbox_set_event, Invoke in subscription_on_data).

Tests: rmw-zerodds-shim::tests::event_callback_fires_on_arrival.

Status: done

`rmw_get_serialized_message_size`

Spec: rmw/rmw.h rmw_get_serialized_message_size.

Repo: rmw_zerodds.c (zerodds_cdr_max_msg — Introspection-Size-Walk, konservative obere Schranke; Strings/Sequences gecappt).

Tests: über den verifizierten serialize-Pfad (gleiche Member-Traversierung).

Status: done

Typed-Message-Loaning (`rmw_borrow/publish/take_loaned_message`)

Spec: rmw/rmw.h Loaned-Message-API + can_loan_messages. Delivery-Form: docs/specs/zerodds-delivery-modes-1.0.md (Modes Portable/RawSameHost/Iceoryx).

Repo: rmw_c/rmw_zerodds.c (rmw_borrow/publish/take_loaned_message, rmw_return_loaned_message_from_publisher/subscription, can_loan_messages = fixed-POD aus rosidl-Introspection) + die SHM-Bridge in src/lib.rs (rmw_zerodds_publisher_enable_raw_loan/_loan/_commit/_discard, rmw_zerodds_subscription_enable_shm/_take_shm/_has_shm_data/_release_shm), Feature flatdata-loan (default). Tests: rmw_c/loaned_message_test.cpp + run_loaned_message_test.sh (rclcpp e2e, beide Modi grün).

Status: done — die Loaned-Message-ABI ist implementiert und e2e verifiziert, in zwei Delivery-Modi (Default per ZERODDS_DELIVERY_MODE):

Portable (default): rclcpp übergibt einen getypten Struct-Buffer, der User schreibt die Struct, publish_loaned serialisiert Struct→CDR und publiziert über RTPS — interop-sicher (cross-host/cross-vendor), echtes CDR auf dem Draht. (can_loan=1 got=42 PASS.)
RawSameHost (echtes Zero-Copy/Zero-Serialize, same-host-only): der Writer ist auf set_delivery_mode(RawSameHost) + enable_shm_loan gestellt; borrow liefert einen Zeiger in den POSIX-SHM-Slot (der User schreibt die Struct direkt in Shared-Memory), commit finalisiert in-place ohne Serialisierung und ohne RTPS (c-api-publishes_to_wire-Gate → keine Double-Delivery). Der Reader mappt dasselbe Segment per deterministischem topic-abgeleitetem flink-Pfad (lazy attach) und liest den Slot zero-copy (take_loaned) bzw. mit einem Struct-memcpy für normale Callbacks (rmw_take). (can_loan=1 got=42 PASS, Beweis für SHM: Raw geht nie auf den Draht.)
Iceoryx (same-host cross-stack, Shim-Feature delivery-iceoryx): derselbe loan/commit/take-Pfad, aber Writer/Reader sind an einen iceoryx2- Service (topic-abgeleitet) gebunden — commit sendet über iceoryx2, der Reader empfängt davon. Ohne das Feature degradiert ZERODDS_DELIVERY_MODE=iceoryx beidseitig auf Portable. (can_loan=1 got=42 PASS via ZERODDS_TEST_ICEORYX=1.)

Readiness (Modi 1/2): event-getrieben. Pro Raw-Subscription parkt ein „Doorbell”-Thread auf zerodds_reader_raw_wait(reader, timeout_ms) (c-api), das auf der Raw-Quelle blockiert — SHM-Change-Generation-Futex (notify_generation/wait_for_change) bzw. iceoryx2-Listener — und bei einer echten Ankunft die Context-Condvar von rmw_wait weckt; der Sender notifiziert das iceoryx2-Event beim commit. Der Doorbell wird lazy gestartet, sobald die Raw-Quelle aktiv ist, und vor dem Reader-Destroy gestoppt + gejoint (er hält den Reader-Pointer). Da iceoryx2’s take ein destruktiver FIFO-Receive ist, prefetcht die Readiness zusätzlich genau ein Sample in einen Pending-Buffer der Subscription (nicht-konsumierend, idempotent); rmw_take/take_loaned konsumieren das gehaltene Sample. Damit weckt ein blockierendes rclcpp-spin() auch bei reinen Raw-Daten ohne Executor-Timeout.

Audit-Status

26 done / 0 partial / 0 open / 1 n/a (informative) / 2 n/a (out of rmw scope: REP-2007 Type-Adaptation, REP-2008 HW-Accel).

Test-Lauf: cargo test -p zerodds-ros2-rmw (52 grün) + cargo test -p rmw-zerodds-shim (23 grün — Shim-Unit inkl. event-driven Wait, Service-Roundtrip, Event-Callback, Context-Lifecycle-Regression, Endpoint-gid- Roundtrip) + rclpy-Interop crates/py/python/tests/ros2/ auf ROS 2 Humble (6 grün: init, pub/sub, service-call, topic-graph, node-names, endpoint-info) via run_ros2_pytest.sh + rclcpp-Loan-e2e via run_loaned_message_test.sh (Portable + RawSameHost + ZERODDS_TEST_ICEORYX=1 Iceoryx, je can_loan=1 got=42 PASS).

Kein offener rmw-Punkt; alle drei Delivery-Modi (Portable/RawSameHost/ Iceoryx) sind rmw-seitig verdrahtet + e2e-verifiziert, und die Raw-Readiness ist event-getrieben (Doorbell-Thread auf zerodds_reader_raw_wait, SHM-Futex bzw. iceoryx2-Listener) — die zuletzt offene Delivery-Modes-Verfeinerung (docs/specs/zerodds-delivery-modes-1.0.md) ist damit geschlossen. Decision-Records (REP-2007/2008/2009 — Features leben in rclcpp über RMW, via rmw_zerodds-FFI integrabel): siehe ros2-rmw.open.md.

ROS 2 RMW Bridge — Spec Coverage

REP-2003 Sensor Data and Map QoS Settings

Map QoS

Sensor Data QoS (consumer-side)

REP-2004 Package Quality Categories

Quality levels Q1-Q5

REP-2005 ROS 2 Common Packages

Common-package list

REP-2007 Type Adaptation Feature

Type adaptation API

REP-2008 Hardware Acceleration

HW-accel architecture

Endpoint info by topic — rmw_get_publishers/subscriptions_info_by_topic

REP-2009 Type Negotiation Feature

Type negotiation — rmw-side part (type hash + endpoint info)

Topic-name mangling convention (de-facto, rmw_dds_common)

Prefix convention rt/rq/rr/rs

Standard RMW QoS profiles

rmw_qos_profile_* constants

RMW C-API (rmw/rmw.h)

rmw_ret_t return codes

Implementation identifier (rmw_get_implementation_identifier)

rmw_node_t construction

RMW-QoS mapping (rmw/qos_profiles.h)

rmw_qos_*_policy_t enums (History/Reliability/Durability)

rmw_to_dds conversion + BEST_AVAILABLE handling

ROS-IDL → DDS-XTypes wire mapping

Sub-namespace convention (msg/srv/action)

ROS-form → DDS-form round-trip

Builtin type tokens (int32, float64, string, …)

RMW C-ABI plugin (crates/rmw-zerodds-shim)

rmw_wait — event-driven

Services — request/reply

rmw_serialize / rmw_deserialize + serialized publish/take

Topic graph — rmw_get_topic_names_and_types + rmw_count_publishers/subscribers

Guard conditions + event-driven wake

rmw_get_node_names + _with_enclaves

on_new_message/request/response callbacks (events executor)

rmw_get_serialized_message_size

Typed message loaning (rmw_borrow/publish/take_loaned_message)

Audit status

ROS 2 RMW Bridge — Spec-Coverage

REP-2003 Sensor Data and Map QoS Settings

Map QoS

Sensor Data QoS (Consumer-Side)

REP-2004 Package Quality Categories

Quality Levels Q1-Q5

REP-2005 ROS 2 Common Packages

Common-Package-List

REP-2007 Type Adaptation Feature

Type Adaptation API

REP-2008 Hardware Acceleration

HW-Accel Architecture

Endpoint info by topic — rmw_get_publishers/subscriptions_info_by_topic

REP-2009 Type Negotiation Feature

Type Negotiation — rmw-seitiger Teil (Type-Hash + Endpoint-Info)

Topic-Name-Mangling Convention (de-facto, rmw_dds_common)

Prefix-Convention rt/rq/rr/rs

Standard RMW QoS Profiles

rmw_qos_profile_* Konstanten

RMW C-API (rmw/rmw.h)

rmw_ret_t Return-Codes

Implementation-Identifier (rmw_get_implementation_identifier)

rmw_node_t Construction

RMW-QoS-Mapping (rmw/qos_profiles.h)

rmw_qos_*_policy_t-Enums (History/Reliability/Durability)

rmw_to_dds-Konversion + BEST_AVAILABLE-Handling

ROS-IDL → DDS-XTypes Wire-Mapping

Sub-Namespace-Convention (msg/srv/action)

ROS-Form → DDS-Form Round-Trip

Builtin-Type-Tokens (int32, float64, string, …)

RMW C-ABI Plugin (crates/rmw-zerodds-shim)

rmw_wait — event-driven

Services — Request/Reply

rmw_serialize / rmw_deserialize + serialized publish/take

Topic-Graph — rmw_get_topic_names_and_types + rmw_count_publishers/subscribers

Guard-Conditions + event-driven Wake

rmw_get_node_names + _with_enclaves

on_new_message/request/response-Callbacks (Events-Executor)

rmw_get_serialized_message_size

Endpoint info by topic — `rmw_get_publishers/subscriptions_info_by_topic`

Topic-name mangling convention (de-facto, `rmw_dds_common`)

`rmw_qos_profile_*` constants

RMW C-API (`rmw/rmw.h`)

`rmw_ret_t` return codes

Implementation identifier (`rmw_get_implementation_identifier`)

`rmw_node_t` construction

RMW-QoS mapping (`rmw/qos_profiles.h`)

`rmw_qos_*_policy_t` enums (History/Reliability/Durability)

`rmw_to_dds` conversion + `BEST_AVAILABLE` handling

Builtin type tokens (`int32`, `float64`, `string`, …)

RMW C-ABI plugin (`crates/rmw-zerodds-shim`)

`rmw_wait` — event-driven

`rmw_serialize` / `rmw_deserialize` + serialized publish/take

Topic graph — `rmw_get_topic_names_and_types` + `rmw_count_publishers/subscribers`

`rmw_get_node_names` + `_with_enclaves`

`on_new_message/request/response` callbacks (events executor)

`rmw_get_serialized_message_size`

Typed message loaning (`rmw_borrow/publish/take_loaned_message`)

Endpoint info by topic — `rmw_get_publishers/subscriptions_info_by_topic`

Topic-Name-Mangling Convention (de-facto, `rmw_dds_common`)

`rmw_qos_profile_*` Konstanten

RMW C-API (`rmw/rmw.h`)

`rmw_ret_t` Return-Codes

Implementation-Identifier (`rmw_get_implementation_identifier`)

`rmw_node_t` Construction

RMW-QoS-Mapping (`rmw/qos_profiles.h`)

`rmw_qos_*_policy_t`-Enums (History/Reliability/Durability)

`rmw_to_dds`-Konversion + `BEST_AVAILABLE`-Handling

Builtin-Type-Tokens (`int32`, `float64`, `string`, …)

RMW C-ABI Plugin (`crates/rmw-zerodds-shim`)

`rmw_wait` — event-driven

`rmw_serialize` / `rmw_deserialize` + serialized publish/take

Topic-Graph — `rmw_get_topic_names_and_types` + `rmw_count_publishers/subscribers`

`rmw_get_node_names` + `_with_enclaves`

`on_new_message/request/response`-Callbacks (Events-Executor)

`rmw_get_serialized_message_size`

Typed-Message-Loaning (`rmw_borrow/publish/take_loaned_message`)