Expand description
Assembling the Zenoh key expression a rmw_zenoh peer subscribes to.
rmw_zenoh puts every ROS 2 topic and service on a Zenoh key expression of the form
<domain_id>/<fully_qualified_name>/<dds_type_name>/<type_hash>, so a pamoja peer that builds
the same key talks to ROS 2 nodes over Zenoh with no DDS in the path. This assembles that key
from its parts and validates the result as a Zenoh key expression through [pamoja_zenoh], so a
malformed key is caught here rather than silently failing to match on the wire.
Functionsยง
- entity_
key - Builds the
rmw_zenohkey expression for a ROS 2 topic or service.