Use the subscriber type for downcasting to ensure that the correct type is used. Also, store an unique ID per subscriber to differentiate subscriptions of same type after merging.

the global meter.

Use forward slash as it is default way of defining ros2 topic

Test ros2 type info

Co-authored-by: Haixuan Xavier Tao <tao.xavier@outlook.com>

Stream merging based on the cxx crate requires the bridge and the api to share an `ExternalEvents` type, which is only possible if the two bridge modules are defined in the same crate.

Required because arrow uses column-oriented data format, which requires all struct fields to have length 1.

Arrow has a special `BinaryArray` type for storing lists of variable-sized binary data efficiently. This type is equivalent to a `ListArray` of `PrimitiveArray<u8>`, but it is a different data type.

This commit updates the Python ROS2 serialization code to permit BinaryArray for all uint8 array or sequence fields.

Use ROS2 types as type info to ensure that serialization type matches exactly. This is necessary because the types need to match exactly, otherwise the serialization or deserialization will result in invalid data.

Using arrow schemas to specify the ROS2 message types does not work because not all ROS2 message types can be represented. For example, ROS2 serializes arrays with known length differently than sequences with dynamic length.

This should fix: https://github.com/dora-rs/dora-autoware/discussions/9

Tokio background tasks are canceled when the program exits, so we need some additional synchronization to ensure that the `DestroyResult` is actually sent out.

Fix window path error

Being able to download a file within a yaml declaration can later be integrated as a yaml feature.

See: https://github.com/ultralytics/ultralytics/pull/7432#issuecomment-1883383862

The `cxx_build` crate does not support proc macro output (see https://github.com/dtolnay/cxx/issues/808), so we have to generate a standard Rust source file instead.

Update `ros2-client` and `rustdds` dependencies to latest fork version