OSRF

Built-in Publication data for local DataWriters and DataReaders

I am trying to use the built-in DDS topics to monitor when DataWriters and DataReaders are being created. However, I believe I'm running into an issue where locally created DataWriters (and DataReaders) are not causing a message to be received by the builtin `DDS_PUBLICATION_TOPIC_NAME` DataReader. This is my simple example:

https://gist.github.com/wjwwood/d3862336ab3184e0db4a1a5984f96c87 (example program + an example idl file)

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Performance implications for using XTypes

We are looking into using the DynamicData / DynamicType interfaces specified by the DDS-XTypes standard. The spec mentions "may be lower performance to use than plain data objects" for the use of "dynamic language bindings". Before we dive deeper into trying it and building prototypes with that we would like to ask for an assessment about the performance implications. We are intrested in a rough estimation (rather then exact numbers).

Is the performance impact mostly limited to the discovery phase or does it affect the handling of every single message?

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