How can I find type_information and type_mapping in rmw_cyclonedds_cpp?

[tooyoungtoosimpo]

When I use rmw_cyclonedds_cpp, I found that there is no 0x75(PID_TYPE_INFORMATION) in data(w) or data(r).
Is there a way to get this feature?

[audrow]

I think this question should be on the cyclone repo. Should we close this and open it there?

[tooyoungtoosimpo]

It looks like because rmw_cyclonedds is creating the topic via dds_create_topic_sertype. And the sertype created by create_sertype in rmw_node.cpp does not have type_information and type_mapping.

[tooyoungtoosimpo]

I'm wondering if rmw_cyclonedds should add parsing of ros2 type_support to create_sertype to construct type_information and type_mapping to pass to the CycloneDDS stack?