FastRTPS Usage

[icolwell]

I have a few questions about the usage of FastRTPS in this repo.

1. Is FastRTPS only used to send around meta information? The README sort of suggests all ROS messages are sent using FastRTPS, but I only see the discovery portion of ros_comm actually using FastRTPS.
2. If so, are messages still transported the same as vanilla ROS (using TCPROS)? The only difference is that they could be serialized protobuf messages or serialized vanilla ROS messages (but never FastRTPS messages?).

Thanks!

[sutyum]

@icolwell Did you find an answer? I am also looking to understand the relationship between apollo, rtps, ros messages and protobuf. Thanks for posting your issue!

[zhuangli1987]

it only uses the discovery of fastrtps~~ no ros message is applied