Use gid struct for request id

Everywhere else in rmw, we use the type rmw_gid_t for global identifiers. For example, rmw_get_gid_for_publisher and rmw_get_gid_for_client. Furthermore, other global identifiers have a maximum size of 24 bytes, not 16 bytes. Changing the type and name of the client id in the rmw_request_id_t struct makes it consistent with other parts of the rmw API. Signed-off-by: Jacob Perron <[email protected]>
ros2 · Oct 13, 2022 · 3eb33f1 · 3eb33f1
1 parent b635eec
commit 3eb33f1
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/rmw/include/rmw/types.h b/rmw/include/rmw/types.h
@@ -355,8 +355,8 @@ typedef struct RMW_PUBLIC_TYPE rmw_wait_set_s
 /// An rmw service request identifier
 typedef struct RMW_PUBLIC_TYPE rmw_request_id_s
 {
-  /// The guid of the writer associated with this request
-  int8_t writer_guid[16];
+  /// The globally unique identifier of the client writer associated with this request
+  rmw_gid_t client_gid;
 
   /// Sequence number of this service
   int64_t sequence_number;