Serialize encapsulation header on buffer aware topics (backport #891) - #893
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Serialize encapsulation header on buffer aware topics (backport #891)#893mergify[bot] wants to merge 1 commit into
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* Serialize encapsulation when publishing Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Read encapsulation when taking Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Catch and log error when reading encapsulation header. Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Fix typo Signed-off-by: Miguel Company <miguelcompany@eprosima.com> * Fix linters Signed-off-by: Miguel Company <miguelcompany@eprosima.com> --------- Signed-off-by: Miguel Company <miguelcompany@eprosima.com> (cherry picked from commit 742f713)
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Tick the box to add this pull request to the merge queue (same as
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Pulls: #893
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fujitatomoya
approved these changes
Jul 3, 2026
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Description
While creating a native DDS consumer for rosidl buffer custom topics, I discovered that the encapsulation header required by the RTPS standard is not added for the reader-GUID-based topics.
This PR adds the encapsulation header when publishing, and consumes it when taking.
Is this user-facing behavior change?
No, but the custom serialization changes.
I would nonetheless consider backporting to lyrical.
Did you use Generative AI?
No.
Additional Information
I verified that the GPU buffer transport tutorial works with these changes
This is an automatic backport of pull request #891 done by Mergify.