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Pull request overview
This PR vendors the dynmsg library from the dynamic_message_introspection repository directly into ros2_medkit_serialization to enable publishing to rosdistro. The vendoring removes the external git submodule dependency that was blocking binary distribution.
Changes:
- Vendored dynmsg C++ API (~1500 lines) with proper Apache 2.0 attribution
- Added message_cleanup wrapper API for simplified memory management
- Removed dynamic_message_introspection git submodule
- Updated all include paths from
dynmsg/toros2_medkit_serialization/vendored/dynmsg/
Reviewed changes
Copilot reviewed 24 out of 24 changed files in this pull request and generated 5 comments.
Show a summary per file
| File | Description |
|---|---|
| src/ros2_medkit_serialization/src/vendored/dynmsg/*.cpp | Vendored dynmsg C++ implementation files with updated include paths |
| src/ros2_medkit_serialization/include/ros2_medkit_serialization/vendored/dynmsg/*.hpp | Vendored headers with updated include guards and paths |
| src/ros2_medkit_serialization/src/vendored/dynmsg/NOTICE.md | Attribution and modification documentation for vendored code |
| src/ros2_medkit_serialization/src/message_cleanup.cpp | New wrapper API for message cleanup |
| src/ros2_medkit_serialization/include/ros2_medkit_serialization/message_cleanup.hpp | Header for message cleanup wrapper |
| src/ros2_medkit_serialization/CMakeLists.txt | Updated to build vendored sources, disabled linters for vendored code |
| src/ros2_medkit_serialization/package.xml | Replaced dynmsg dependency with underlying ROS dependencies |
| src/ros2_medkit_serialization/src/json_serializer.cpp | Updated include paths to vendored headers |
| src/ros2_medkit_serialization/include/ros2_medkit_serialization/type_cache.hpp | Updated include paths to vendored headers |
| src/ros2_medkit_gateway/src/operation_manager.cpp | Uses new message_cleanup wrapper for consistent memory management |
| src/dynamic_message_introspection | Removed git submodule |
| .gitmodules | Removed submodule configuration |
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Migrate dynmsg from git submodule to vendored source code within ros2_medkit_serialization. This removes the external dependency blocker for publishing to rosdistro. Changes: - Add vendored dynmsg C++ API (headers + sources) - Add message_cleanup wrapper API for gateway - Update include paths to use vendored headers - Remove dynamic_message_introspection submodule - Update CMakeLists.txt and package.xml dependencies
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Pull Request
Summary
Migrate dynmsg from git submodule to vendored source code within ros2_medkit_serialization. This removes the external dependency blocker for publishing to rosdistro.
Changes:
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Testing
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