rmw_freertps about freertps HOT 4 OPEN

happening here: https://github.com/osrf/rmw_freertps

many thanks to Dirk, William, et. al. for their patience explaining the mysteries of rmw

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initial implementation for a best-effort string publisher is now working enough that we have a better idea of the strengths and weaknesses of this approach.

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Some ideas

• Typesupport
  • Transfer the msggen python script from its location somewhere in this repo or on Morgan's computer to rmw_freertps to generate conversions from ROS 2 .msgs to CDR
• Feature parity with other rmw implementations
• CI

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mega_genmsg.py is awesome and very powerful 🍗 However I agree it should be moved from r2/mega_genmsg.py to somewhere else related to ROS2. rmw_freertps seems like a better home. The reason it was in this repo initially was because this repo also has a bunch of little demo programs (i.e., camera, etc.) that should move somewhere else eventually... it was convenient to have them all together here initially in order to build the static firmware images all in one place, but we can be more sophisticated and put .a files in various repos during the build process and link them all at the end.

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