AimRT v0.9.0 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 configurations for richer configuration;
• Added third-party library asio, runtime::core no longer references boost, but instead references the standalone asio library to reduce dependencies;
• Added aimrt_cli trans command to convert bag files recorded using the aimrt record_playback plugin to ros2 bag files;
• Added Echo plugin for message echoing;
• Added timer based on executor for convenient scheduled tasks;
• aimrt_py channel and rpc support ros2 message types;
• Added Proxy plugin for message forwarding;

Minor Changes:

• Shortened the file path length of some examples;
• Optimized code structure, moved code from src/runtime/common/net to new location src/common/net;
• Upgraded jsoncpp to version 1.9.6 to optimize some cmake issues;
• Added aimrt_py channel benchmark example;
• Added aimrt_py rpc benchmark example;
• iceoryx plugin checks for the existence of libacl before compiling, and does not compile if it is absent;
• Plugins providing RPC services now support specifying service name;
• Provided a script to run examples with one click and generate test reports;
• Fixed the issue of probabilistic crashes on the server side during multi-threaded rpc calls in aimrt_py;
• Provided Context support for the channel functionality of aimrt_py;
• Now supports installing aimrt::runtime::core;
• Removed some unused protocols;
• Supports custom log output formats;
• Supports periodic proactive log flushing to disk;
• grpc plugin supports ros2 messages and json serialization format;
• mqtt added configuration options to support ssl/tls one-way/two-way authentication for encrypted transmission;
• mqtt plugin will automatically retry asynchronous connection when the broker is not started, and provides reconnection interval configuration options;
• ros2 plugin supports custom rpc service names;
• asio thread/strand executor now supports whether to use system clock;