A demonstration of how to do dynamic introspection of messages using the rcl message API.
This code can convert any message from the in-memory representation into a YAML representation, and convert a YAML representation into the in-memory representation ready for use in client software and for sending via a topic.
All it needs is the compiled shared library that provides the message introspection information.
(For message types included in a ROS 2 distribution, these libraries are already provided by the distribution.)
The initial development of this code was graciously supported by Rocos (@rocos.io).
This package claims to be in the Quality Level 4 category, see the Quality Declaration for more details.