AimRT v0.9.0-rc2 Release!

• Code Link
• Official Documentation Link
• ReleaseNotes

Main Changes (Compared to v0.8.3):

Major Changes:

• Optimized the zenoh plugin:
  • Added zenoh rpc backend;
  • Zenoh plugin supports both network communication and shared memory communication;
  • Allows passing native zenoh configuration for richer settings;
• Introduced asio as a third-party library, runtime::core now uses standalone asio instead of boost to reduce dependencies;
• Added aimrt_cli trans command for converting bag files recorded by aimrt record_playback plugin to ros2 bag files;
• Added Echo plugin for message echo functionality;
• Introduced executor-based timer for convenient scheduled tasks;

Minor Changes:

• Shortened file paths for some examples;
• Optimized code structure by moving src/runtime/common/net to src/common/net;
• Upgraded jsoncpp to version 1.9.6 to resolve cmake issues;
• Added aimrt_py channel benchmark example;
• Added aimrt_py rpc benchmark example;
• Added libacl dependency check before compiling iceoryx plugin;
• RPC service plugins now support custom service name specification;
• Provided one-click script for running examples and generating test reports;
• Fixed occasional server-side crashes in aimrt_py multi-threaded rpc calls;
• Added Context support for aimrt_py channel functionality;
• Added support for installing aimrt::runtime::core;
• Removed unused protocols;
• Added support for custom log output formats;
• Added support for periodic log flushing to disk;
• Grpc plugin supports ros2 message and json serialization formats;
• Added configuration options for mqtt to support ssl/tls single-way and mutual authentication for encrypted transmission;
• Mqtt plugin will automatically retry asynchronous connection if the broker is not started, with configurable reconnection interval;
• Ros2 plugin supports custom rpc service names;
• Asio thread/strand executor now supports the option to use the system clock;