新增轻量发布订阅服务 #296
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新增轻量发布订阅服务 #296
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1. 内置节点发现协议、通信端点发现协议、实时话题传输协议 2. 目前仅支持 UDPv4 通道，SHM 通道暂不支持 3. 消息序列化与反序列化暂不提供，后续由 @Nq139 完成 4. 重命名 RMVLGenPara 为 RMVLCodeGenerate
1. 浮点消息改为 float32 和 float64 2. 增加消息头文件模板的注释 3. 自带的消息分组包含 std、geometry 和 sensor 三部分 4. 自动代码生成支持完整的嵌套类型 5. NDP 发包周期缩短为 20ms 6. 增加序列化与 Node Domain 的单元测试 7. 移除 rmvl_generate_module_msg 及其对应的模板
1. 增加 CameraInfo、MultiDOFJointState、Char内置消息 2. 增加文档 3. 增加序列化相关的单元测试
1. RTIO 增加包头 2. NDP 与 EDP 的 Guid 缩短为 8 字节，PID 与 EID 部分均改为小端序 3. 消息类型移除固定的前缀 lpss 命名空间 4. DgramSocket 增加新的 write 重载 5. EDP 端口改为自动分配
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TooPretty0108
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Jan 4, 2026
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Pull Request 合并请求准备清单
详情参见此处
具体内容
lpss 模块
std、geometry、sensor三个消息分组，并支持自定义消息类型的序列化、反序列化代码生成rmvl_generate_msg并同步更新 Visual Studio Code 扩展，见 rmvl-vscode-extension@1.5io 模块