Adds content-filtering to the Subscription class #898
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makes makes this feature available to rclnodejs developers. node.js - added contentFilter to Options - added static getDefaultOptions() - updated createSubscription() to support contentFilter node.d.ts - added content-filter types rcl_bindings.cpp - added content-filtering to CreateSubscription() rmw.js - new class for identifying the current ROS middleware test-subscription-content-filter.js - test cases for content-filters examples: - publisher-content-filtering-example.js - subscription-content-filtering-example.js package.json - added build/rebuild scripts for convenience
On windows workflow use node 18.12.0 inplace of 18.13.0. There is a repeatable issue with node-gyp configuration on node 18.13. It seems to be related to the node cache. Switching to 18.12 avoids using a cached version of node 18 and the issue no longer occurs. Fix RobotWebTools#890
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I discovered that I omitted an additional api for resetting a subscription content-filter. Please hold off reviewing. I will reopen this PR once I've implemented that feature. |
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ROS Humble introduced the content-filtering topics feature. This PR
makes makes this feature available to rclnodejs developers.
Resources
DDS 1.4 specification, Annex B
Content-filtering tutorial
ros2/design#282
Supported RMWs
Content-filtering is supported by the following RMWs as of the Humble release:
rmw_cyclonedds_cpp does NOT support content-filtering yet.
Key Changes
node.js
node.d.ts
rcl_bindings.cpp
rmw.js
test-subscription-content-filter.js
examples
package.json