armw 2.0.2

ARMW: Agnostic Robot MiddleWare

Agnostic Robot Middleware

A shim layer that will let the same code run in ROS1 and ROS2

Native Backend (No ROS Runtime Required)

You can force the new native backend at runtime:

set ARMW_MIDDLEWARE=native

The native backend supports:

• Runtime message/service loading from ROS-compatible .msg / .srv
• Cross-process pub/sub (local IPC first)
• RPC service client/server
• Parameter APIs and a native parameter server wrapper

Message Definition Search Paths

MessageFactory resolves packages from:

1. Current working directory
2. ROS_PACKAGE_PATH
3. AMENT_PREFIX_PATH
4. CMAKE_PREFIX_PATH

Package lookup checks:

• <root>/<package>
• <root>/src/<package>
• <root>/share/<package>

Native Backend Configuration

Environment variables:

• ARMW_MIDDLEWARE: backend selection (native, ros1, ros2)
• ARMW_NATIVE_TRANSPORT: local_ipc (default) or tcp
• ARMW_NATIVE_IPC_DIR: base directory for local IPC endpoints (default: OS temp armw_rpc directory)
• ARMW_NATIVE_IPC_AUTHKEY: auth key for local IPC listener/client auth (default: armw)
• ARMW_NATIVE_TCP_HOST: TCP host when using tcp transport (default: 127.0.0.1)
• ARMW_NATIVE_TCP_BASE_PORT: base TCP port when using tcp transport (default: 45000)
• ARMW_NATIVE_RPC_TIMEOUT: default RPC call timeout seconds (default: 2.0)
• ARMW_NATIVE_BROKER_STARTUP_TIMEOUT: pub/sub broker startup wait seconds (default: 1.0)
• ARMW_NATIVE_BROKER_CONNECT_TIMEOUT: pub/sub broker connect timeout seconds (default: 0.2)

These also have optional armw.globals overrides with matching names: NATIVE_TRANSPORT_MODE, NATIVE_IPC_DIR, NATIVE_IPC_AUTHKEY, NATIVE_TCP_HOST, NATIVE_TCP_BASE_PORT, NATIVE_RPC_TIMEOUT, NATIVE_BROKER_STARTUP_TIMEOUT, NATIVE_BROKER_CONNECT_TIMEOUT.