PR #13715 from Eran: adapter ROS2 node & parameters

third-party/realdds/include/realdds/dds-device-server.h

@@ -65,6 +65,7 @@ class dds_device_server
     dds_guid const & guid() const;
     std::shared_ptr< dds_participant > participant() const;
     std::shared_ptr< dds_subscriber > subscriber() const { return _subscriber; }
+    std::shared_ptr< dds_publisher > publisher() const { return _publisher; }
     std::string const & topic_root() const { return _topic_root; }
     rsutils::string::slice debug_name() const;
 
@@ -85,6 +86,7 @@ class dds_device_server
     bool operator!() const { return ! is_valid(); }
 
     std::map< std::string, std::shared_ptr< dds_stream_server > > const & streams() const { return _stream_name_to_server; }
+    dds_options const & options() const { return _options; }
 
     void publish_notification( topics::flexible_msg && );
     void publish_metadata( rsutils::json && );
@@ -104,6 +106,7 @@ class dds_device_server
     // Same as find_options, except throws if not found
     std::shared_ptr< dds_option > get_option( std::string const & option_name, std::string const & stream_name ) const;
 
+
 private:
     struct control_sample;
 

third-party/realdds/include/realdds/dds-stream-sensor-bridge.h

@@ -56,6 +56,9 @@ class dds_stream_sensor_bridge
         start_sensor_callback;
     typedef std::function< void( std::string const & sensor_name ) > stop_sensor_callback;
     typedef std::function< void( std::string const & error_string ) > on_error_callback;
+    typedef std::function< void( std::shared_ptr< realdds::dds_stream_server > const &,
+                                 std::shared_ptr< realdds::dds_stream_profile > const & ) >
+        on_stream_profile_change_callback;
 
 private:
     std::map< std::string, sensor_bridge > _sensors;
@@ -64,6 +67,7 @@ class dds_stream_sensor_bridge
     start_sensor_callback _on_start_sensor;
     stop_sensor_callback _on_stop_sensor;
     on_error_callback _on_error;
+    on_stream_profile_change_callback _on_stream_profile_change;
 
 public:
     dds_stream_sensor_bridge();
@@ -101,12 +105,16 @@ class dds_stream_sensor_bridge
     // Return true if the stream for the given server is currently streaming
     bool is_streaming( std::shared_ptr< dds_stream_server > const & ) const;
 
+    // Return the profile a server is set to, even if not yet streaming
+    std::shared_ptr< dds_stream_profile > get_profile( std::shared_ptr< dds_stream_server > const & ) const;
+
     // Notifications
 public:
     void on_readers_changed( readers_changed_callback callback ) { _on_readers_changed = std::move( callback ); }
     void on_start_sensor( start_sensor_callback callback ) { _on_start_sensor = std::move( callback ); }
     void on_stop_sensor( stop_sensor_callback callback ) { _on_stop_sensor = std::move( callback ); }
     void on_error( on_error_callback callback ) { _on_error = std::move( callback ); }
+    void on_stream_profile_change( on_stream_profile_change_callback callback ) { _on_stream_profile_change = std::move( callback ); }
 
     // Impl
 protected:

third-party/realdds/include/realdds/topics/dds-topic-names.h

@@ -26,6 +26,29 @@ constexpr char const * METADATA_TOPIC_NAME = "/metadata";
 constexpr char const * DFU_TOPIC_NAME = "/dfu";
 
 
+namespace ros2 {
+
+constexpr char const * NAMESPACE = "/realsense";  // must begin with /
+
+constexpr char const * ROOT = "rt/";
+constexpr size_t ROOT_LEN = 3;
+constexpr char const * SERVICE_REQUEST_ROOT = "rq/";
+constexpr char const * SERVICE_RESPONSE_ROOT = "rr/";
+
+constexpr char const * GET_PARAMETERS_NAME = "/get_parameters";
+constexpr char const * SET_PARAMETERS_NAME = "/set_parameters";
+constexpr char const * LIST_PARAMETERS_NAME = "/list_parameters";
+constexpr char const * DESCRIBE_PARAMETERS_NAME = "/describe_parameters";
+
+constexpr char const * REQUEST_SUFFIX = "Request";
+constexpr char const * RESPONSE_SUFFIX = "Reply";
+
+constexpr char const * DISCOVERY_INFO = "ros_discovery_info";
+constexpr char const * PARAMETER_EVENTS_NAME = "parameter_events";
+
+}  // namespace ros2
+
+
 namespace notification {
     namespace key {
         extern std::string const id;

third-party/realdds/include/realdds/topics/readme.md

@@ -16,7 +16,7 @@ The various topics are arranged hierarchically:
 
 The code for each message type in this directory is generated from IDL files if the message format is defined by RealDDS.
 
-For [ROS](#ros2), the IDLs are not available.
+For [ROS](#ros2), the IDLs are available in the `/opt/ros/<distro>/share/` installation folder.
 
 # Generation
 

third-party/realdds/include/realdds/topics/ros2/describe-parameters-msg.h

@@ -0,0 +1,117 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2025 Intel Corporation. All Rights Reserved.
+#pragma once
+
+#include <realdds/dds-defines.h>
+
+#include <realdds/topics/ros2/rcl_interfaces/srv/DescribeParameters.h>
+#include <realdds/topics/ros2/rcl_interfaces/msg/ParameterDescriptor.h>
+
+#include <string>
+#include <memory>
+#include <vector>
+
+
+namespace rcl_interfaces {
+namespace srv {
+class DescribeParameters_RequestPubSubType;
+class DescribeParameters_ResponsePubSubType;
+}  // namespace srv
+}  // namespace rcl_interfaces
+
+
+namespace realdds {
+
+
+class dds_participant;
+class dds_topic;
+class dds_topic_reader;
+class dds_topic_writer;
+
+
+namespace topics {
+namespace ros2 {
+
+
+class describe_parameters_request_msg
+{
+    rcl_interfaces::srv::DescribeParameters_Request _raw;
+
+public:
+    using type = rcl_interfaces::srv::DescribeParameters_RequestPubSubType;
+
+    void clear() { _raw.names().clear(); }
+    std::vector< std::string > const & names() const { return _raw.names(); }
+    void add( std::string const & name ) { _raw.names().push_back( name ); }
+
+    bool is_valid() const { return ! names().empty(); }
+    void invalidate() { clear(); }
+
+
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      char const * topic_name );
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      std::string const & topic_name )
+    {
+        return create_topic( participant, topic_name.c_str() );
+    }
+
+    // This helper method will take the next sample from a reader. 
+    // 
+    // Returns true if successful. Make sure you still check is_valid() in case the sample info isn't!
+    // Returns false if no more data is available.
+    // Will throw if an unexpected error occurs.
+    //
+    //Note - copies the data.
+    //TODO - add an API for a function that loans the data and enables the user to free it later.
+    bool take_next( dds_topic_reader &, dds_sample * optional_sample = nullptr );
+};
+
+
+class describe_parameters_response_msg
+{
+    rcl_interfaces::srv::DescribeParameters_Response _raw;
+
+public:
+    using type = rcl_interfaces::srv::DescribeParameters_ResponsePubSubType;
+
+    using descriptor_type = rcl_interfaces::msg::ParameterDescriptor;
+
+    std::vector< descriptor_type > const & descriptors() const { return _raw.descriptors(); }
+    bool is_valid() const { return ! descriptors().empty(); }
+    void invalidate() { _raw.descriptors().clear(); }
+
+    void add( descriptor_type const & descriptor )
+    {
+        _raw.descriptors().push_back( descriptor );
+    }
+
+
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      char const * topic_name );
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      std::string const & topic_name )
+    {
+        return create_topic( participant, topic_name.c_str() );
+    }
+
+    // Sends out the response to the given writer
+    // The request sample is needed for ROS2 request-response mechanism to connect the two
+    // Returns a unique (to the writer) identifier for the sample that was sent, or 0 if unsuccessful
+    dds_sequence_number respond_to( dds_sample const & request_sample, dds_topic_writer & ) const;
+
+    // This helper method will take the next sample from a reader. 
+    // 
+    // Returns true if successful. Make sure you still check is_valid() in case the sample info isn't!
+    // Returns false if no more data is available.
+    // Will throw if an unexpected error occurs.
+    //
+    //Note - copies the data.
+    //TODO - add an API for a function that loans the data and enables the user to free it later.
+    bool take_next( dds_topic_reader &, dds_sample * optional_sample = nullptr );
+};
+
+
+}  // namespace ros2
+}  // namespace topics
+}  // namespace realdds

third-party/realdds/include/realdds/topics/ros2/get-parameters-msg.h

@@ -0,0 +1,112 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright(c) 2025 Intel Corporation. All Rights Reserved.
+#pragma once
+
+#include <realdds/dds-defines.h>
+
+#include <realdds/topics/ros2/rcl_interfaces/srv/GetParameters.h>
+#include <realdds/topics/ros2/rcl_interfaces/msg/ParameterValue.h>
+
+#include <string>
+#include <memory>
+#include <vector>
+
+
+namespace rcl_interfaces {
+namespace srv {
+class GetParameters_RequestPubSubType;
+class GetParameters_ResponsePubSubType;
+}  // namespace srv
+}  // namespace rcl_interfaces
+
+
+namespace realdds {
+
+
+class dds_participant;
+class dds_topic;
+class dds_topic_reader;
+class dds_topic_writer;
+
+
+namespace topics {
+namespace ros2 {
+
+
+class get_parameters_request_msg
+{
+    rcl_interfaces::srv::GetParameters_Request _raw;
+
+public:
+    using type = rcl_interfaces::srv::GetParameters_RequestPubSubType;
+
+    void clear() { _raw.names().clear(); }
+    std::vector< std::string > const & names() const { return _raw.names(); }
+    void add( std::string const & name ) { _raw.names().push_back( name ); }
+
+    bool is_valid() const { return ! names().empty(); }
+    void invalidate() { clear(); }
+
+
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      char const * topic_name );
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      std::string const & topic_name )
+    {
+        return create_topic( participant, topic_name.c_str() );
+    }
+
+    // This helper method will take the next sample from a reader. 
+    // 
+    // Returns true if successful. Make sure you still check is_valid() in case the sample info isn't!
+    // Returns false if no more data is available.
+    // Will throw if an unexpected error occurs.
+    //
+    //Note - copies the data.
+    //TODO - add an API for a function that loans the data and enables the user to free it later.
+    bool take_next( dds_topic_reader &, dds_sample * optional_sample = nullptr );
+};
+
+
+class get_parameters_response_msg
+{
+    rcl_interfaces::srv::GetParameters_Response _raw;
+
+public:
+    using type = rcl_interfaces::srv::GetParameters_ResponsePubSubType;
+
+    using value_type = rcl_interfaces::msg::ParameterValue;
+
+    std::vector< value_type > const & values() const { return _raw.values(); }
+    void add( value_type const & value ) { _raw.values().push_back( value ); }
+    bool is_valid() const { return ! values().empty(); }
+    void invalidate() { _raw.values().clear(); }
+
+    // Sends out the response to the given writer
+    // The request sample is needed for ROS2 request-response mechanism to connect the two
+    // Returns a unique (to the writer) identifier for the sample that was sent, or 0 if unsuccessful
+    dds_sequence_number respond_to( dds_sample const & request_sample, dds_topic_writer & ) const;
+
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      char const * topic_name );
+    static std::shared_ptr< dds_topic > create_topic( std::shared_ptr< dds_participant > const & participant,
+                                                      std::string const & topic_name )
+    {
+        return create_topic( participant, topic_name.c_str() );
+    }
+
+    // This helper method will take the next sample from a reader. 
+    // 
+    // Returns true if successful. Make sure you still check is_valid() in case the sample info isn't!
+    // Returns false if no more data is available.
+    // Will throw if an unexpected error occurs.
+    //
+    //Note - copies the data.
+    //TODO - add an API for a function that loans the data and enables the user to free it later.
+    bool take_next( dds_topic_reader &, dds_sample * optional_sample = nullptr );
+};
+
+
+}  // namespace ros2
+}  // namespace topics
+}  // namespace realdds