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Add rosidl_buffer_backend_registry#944

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ahcorde merged 9 commits into
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native_buffer/10-rosidl_buffer_backend_registry
Apr 1, 2026
Merged

Add rosidl_buffer_backend_registry#944
ahcorde merged 9 commits into
rollingfrom
native_buffer/10-rosidl_buffer_backend_registry

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@nvcyc nvcyc commented Mar 16, 2026

Description

This pull request adds the rosidl_buffer_backend_registry package — a singleton registry using pluginlib to discover and load BufferBackend plugins at runtime. This package consolidates buffer backend initialization logic that RMW implementations need during rmw_init/rmw_shutdown, eliminating the need for each RMW to implement its own backend loading.

This pull request consists of the following key changes:

  • Buffer backend registry (buffer_backend_registry.hpp/cpp): Singleton that uses pluginlib to discover all installed BufferBackend plugin classes and manage their lifecycle.
  • Buffer backend loader (buffer_backend_loader.hpp/cpp): Provides initialize_buffer_backends() and shutdown_buffer_backends() — consolidated entry points that load backend plugins, populate the global BufferDescriptorOps and DescriptorSerializers maps in rosidl_typesupport_fastrtps_cpp, and clean up on shutdown. RMW implementations call these during rmw_init/rmw_shutdown instead of maintaining their own copies.

Is this user-facing behavior change?

This pull request does not change existing behavior. It provides infrastructure for loading buffer backend plugins, which has no effect until an RMW implementation calls the initialization functions and a backend plugin is installed.

Did you use Generative AI?

Yes. Claude (claude-4.6-opus) via Cursor was used to assist with creating an initial prototype version of the changes contained in this PR.

Additional Information

This PR is part of the broader ROS 2 native buffer feature introduced in this post.

hidmic
hidmic reviewed Mar 17, 2026
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First pass.

Comment thread rosidl_buffer_backend_registry/include/rosidl_buffer_backend_registry/buffer_backend_loader.hpp Outdated
Comment thread ...l_buffer_backend_registry/include/rosidl_buffer_backend_registry/buffer_backend_registry.hpp Outdated
Comment thread rosidl_buffer_backend_registry/src/buffer_backend_loader.cpp Outdated
Comment thread rosidl_buffer_backend_registry/src/buffer_backend_loader.cpp Outdated
Comment thread rosidl_buffer_backend_registry/src/buffer_backend_registry.cpp Outdated
Comment thread rosidl_buffer_backend_registry/src/buffer_backend_registry.cpp Outdated
Comment thread rosidl_buffer_backend_registry/src/buffer_backend_registry.cpp Outdated
Comment thread rosidl_buffer_backend_registry/src/buffer_backend_registry.cpp Outdated
Comment thread ...l_buffer_backend_registry/include/rosidl_buffer_backend_registry/buffer_backend_registry.hpp Outdated
mjcarroll
mjcarroll reviewed Mar 18, 2026
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Comment thread rosidl_buffer_backend_registry/src/buffer_backend_registry.cpp Outdated
Comment thread rosidl_buffer_backend_registry/src/buffer_backend_registry.cpp Outdated
@nvcyc nvcyc force-pushed the native_buffer/10-rosidl_buffer_backend_registry branch from 17c8cc5 to aedd7d8 Compare March 19, 2026 04:13
@nvcyc nvcyc force-pushed the native_buffer/4-rosidl_c_py branch from 3164108 to e0d2f52 Compare March 19, 2026 08:53
@nvcyc nvcyc force-pushed the native_buffer/10-rosidl_buffer_backend_registry branch from ba833f7 to 82cfc48 Compare March 19, 2026 09:04
@nvcyc nvcyc force-pushed the native_buffer/4-rosidl_c_py branch from e0d2f52 to 9d7675f Compare March 20, 2026 05:21
@nvcyc nvcyc force-pushed the native_buffer/10-rosidl_buffer_backend_registry branch from 82cfc48 to 417347c Compare March 20, 2026 05:22
hidmic
hidmic approved these changes Mar 20, 2026
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Barring aux info naming, this seems correct.

@nvcyc nvcyc force-pushed the native_buffer/10-rosidl_buffer_backend_registry branch from ead744d to 0e2cad0 Compare March 21, 2026 23:07
@nvcyc nvcyc force-pushed the native_buffer/4-rosidl_c_py branch from fce6039 to 6375777 Compare March 21, 2026 23:44
@nvcyc nvcyc force-pushed the native_buffer/10-rosidl_buffer_backend_registry branch from 0e2cad0 to 53d40ac Compare March 22, 2026 05:29
@nvcyc nvcyc force-pushed the native_buffer/4-rosidl_c_py branch from b4e6596 to 4dcb08e Compare March 22, 2026 08:41
@nvcyc nvcyc force-pushed the native_buffer/10-rosidl_buffer_backend_registry branch from 53d40ac to 5ed9b0b Compare March 22, 2026 08:43
@nvcyc nvcyc force-pushed the native_buffer/4-rosidl_c_py branch from 4dcb08e to 897f0bc Compare March 22, 2026 17:56
@nvcyc nvcyc force-pushed the native_buffer/10-rosidl_buffer_backend_registry branch 2 times, most recently from 96c30a6 to 34f0a81 Compare March 23, 2026 08:43
@nvcyc nvcyc force-pushed the native_buffer/4-rosidl_c_py branch from 0a33311 to 9f1a637 Compare March 29, 2026 04:29
@nvcyc nvcyc force-pushed the native_buffer/10-rosidl_buffer_backend_registry branch from 34f0a81 to 72d868e Compare March 29, 2026 04:31
@nvcyc nvcyc force-pushed the native_buffer/4-rosidl_c_py branch from 9f1a637 to 4a1fce2 Compare March 29, 2026 18:57
@nvcyc nvcyc force-pushed the native_buffer/10-rosidl_buffer_backend_registry branch from 72d868e to abad556 Compare March 29, 2026 18:58
@nvcyc nvcyc force-pushed the native_buffer/4-rosidl_c_py branch from 4a1fce2 to 3a47ecd Compare March 29, 2026 19:28
@nvcyc nvcyc force-pushed the native_buffer/10-rosidl_buffer_backend_registry branch from abad556 to 05275b6 Compare March 29, 2026 19:29
@nvcyc nvcyc force-pushed the native_buffer/4-rosidl_c_py branch from 3a47ecd to 2ac2f2a Compare March 29, 2026 20:23
@nvcyc nvcyc force-pushed the native_buffer/10-rosidl_buffer_backend_registry branch from 05275b6 to 80bc56b Compare March 29, 2026 20:24
@nvcyc nvcyc force-pushed the native_buffer/4-rosidl_c_py branch from 2ac2f2a to a47b7a6 Compare March 29, 2026 23:40
@nvcyc nvcyc force-pushed the native_buffer/10-rosidl_buffer_backend_registry branch from 80bc56b to 446c257 Compare March 29, 2026 23:40
@nvcyc nvcyc force-pushed the native_buffer/4-rosidl_c_py branch from a47b7a6 to dbc5b74 Compare March 31, 2026 08:50
@nvcyc nvcyc force-pushed the native_buffer/10-rosidl_buffer_backend_registry branch from 446c257 to 191d7e5 Compare March 31, 2026 08:51
nvcyc added 8 commits April 1, 2026 06:40
@nvcyc
Add rosidl_buffer_backend_registry
849b47e 
Signed-off-by: CY Chen <cyc@nvidia.com>
@nvcyc
Move buffer backend init/shutdown utility functions to RMW layer
a45f4d7 
Signed-off-by: CY Chen <cyc@nvidia.com>
@nvcyc
Optimize code to address comments
8003dcd 
Signed-off-by: CY Chen <cyc@nvidia.com>
@nvcyc
Rename backend aux info to backend metadata
91e31b9 
Signed-off-by: CY Chen <cyc@nvidia.com>
@nvcyc
Move buffer backend util functions to backend_utils.hpp
63a9243 
Signed-off-by: CY Chen <cyc@nvidia.com>
@nvcyc
Update test backend to use non-owning pointer in descriptor ops
baedec4 
Signed-off-by: CY Chen <cyc@nvidia.com>
@nvcyc
Update test backend from_descriptor_with_endpoint with type-erased un…
b3d8787 
…ique pointer

Signed-off-by: CY Chen <cyc@nvidia.com>
@nvcyc
Adjust log level
b13d76f 
Signed-off-by: CY Chen <cyc@nvidia.com>
@nvcyc nvcyc force-pushed the native_buffer/10-rosidl_buffer_backend_registry branch from cecf61b to b13d76f Compare April 1, 2026 06:41
@nvcyc nvcyc changed the base branch from native_buffer/4-rosidl_c_py to rolling April 1, 2026 06:43
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nvcyc commented Apr 1, 2026

Pulls: #944
Gist: https://gist.githubusercontent.com/nvcyc/b5146169437bac2f8205e8d36149b312/raw/16d2d0c4118905ab27327d1e68c6c6baa825d220/ros2.repos
BUILD args: --continue-on-error --packages-above-and-dependencies rosidl_buffer_backend_registry
TEST args: --packages-above rosidl_buffer_backend_registry
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18774

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@ahcorde ahcorde mentioned this pull request Apr 1, 2026
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nvcyc commented Apr 1, 2026

Pulls: #944
Gist: https://gist.githubusercontent.com/nvcyc/97b010866c790660160b6b3315ff4f10/raw/16d2d0c4118905ab27327d1e68c6c6baa825d220/ros2.repos
BUILD args: --continue-on-error --packages-above-and-dependencies rosidl_buffer_backend_registry
TEST args: --packages-above rosidl_buffer_backend_registry
ROS Distro: rolling
Job: ci_launcher
ci_launcher ran: https://ci.ros2.org/job/ci_launcher/18791

  • Linux Build Status
  • Linux-aarch64 Build Status
  • Linux-rhel Build Status
  • Windows Build Status

@ahcorde ahcorde merged commit 5f4ace0 into rolling Apr 1, 2026
3 of 4 checks passed
@ahcorde ahcorde deleted the native_buffer/10-rosidl_buffer_backend_registry branch April 1, 2026 21:17
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@mjcarroll mjcarroll mjcarroll approved these changes

@ahcorde ahcorde ahcorde approved these changes

@hidmic hidmic hidmic approved these changes

@tfoote tfoote Awaiting requested review from tfoote

@karsten-nvidia karsten-nvidia Awaiting requested review from karsten-nvidia

@skyegalaxy skyegalaxy Awaiting requested review from skyegalaxy

@MiguelCompany MiguelCompany Awaiting requested review from MiguelCompany

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@nvcyc @mjcarroll @ahcorde @hidmic