swift-ros2: Simplified ROS2 Publisher with DDS Support

This repository is a simplified version of the original swift-ros2 implementation. It now focuses solely on publishing DDS messages (with a demo using a simple string message) and has removed many extra functionalities such as subscription support and MCAP file recording.

Note: This version only supports basic DDS-based publishing. All extra utilities like MCAP recording, subscriber callbacks, and multi-message type support have been removed.

Features

• CentralNode:
  A helper class that initializes and manages a single ROS2-like node with DDS support.

• Publisher:
  Allows publishing DDS messages to a specified topic. The current implementation demonstrates publishing a simple string message (StringMessage).

• DDS Integration:
  Uses the FastRTPSBridge framework along with the ROS2 message format for DDS communication.

Requirements

• macOS 12 or newer
• Swift 5.9 or later
• Dependencies:
  • FastRTPSBridge
  • ROS2FastRTPSMessages