Carter

Doing some digging today... - [R2R](https://github.com/sequenceplanner/r2r) - Uses the rosidl stuff via CMake to generate the C files for message serialization and then creates Rust binding to those. Clever, but...

Reading everything back, I think it is worth explicitly writing out the design I'm hoping for as plainly as I can. With the risks / justifications: 1. Existing roslibrust_codegen and...

> Oh hey, this looks like the ticket: https://github.com/ros2/rmw_zenoh/blob/f3ac079fb98ea72a690c04f6d93ab10293a142e8/rmw_zenoh_cpp/src/detail/liveliness_utils.cpp#L87 > > topic_keyexpr_ = std::to_string(domain_id); > topic_keyexpr_ += "/"; > topic_keyexpr_ += strip_slashes(name_); > topic_keyexpr_ += "/"; > topic_keyexpr_ += type_;...

Yeah you've got me excited about it now... I'm likely to take a swing at implementing at least parts of this in the next couple weeks.

Yeah this nerd sniped me... But I got a successful subscribe and deserialize of std_msgs::String working: Started a `ros2-experiments` branch where we can play with this. https://github.com/RosLibRust/roslibrust/pull/242

Little update on progress in #242 and noting my plans for next steps. - We have a successful end-to-end CI test in which we subscribe to a ROS2 Zenoh topic...

@YuanYuYuan this is fantastic! I absolutely think we should collaborate here to arrive at a single unified solution. roslibrust is looking for the exact same advantages that ROS-Z is looking...

@YuanYuYuan I did some experiments this morning and was able to demonstrate succesful interop between roslibrust_codegen's types and ros-z. Checkout: https://github.com/RosLibRust/roslibrust/blob/6fff596240f89b55a3000c45df037d516eaa28bd/roslibrust_ros2/src/lib.rs I ran into some challenges that I'll open some...

I've merged a branch which adds very basic initial support leveraging ROS-Z. Lot's of next steps required I'll break into sub-issues from this one. Going to use this as general...

Substantial support for this will land in #242