v0.6.0

All Changes:

• Fixed the topic/rpc rule configuration issue; now the first matched rule takes precedence, and subsequent rules are ignored after a match;

• Removed individual enable configurations for each plugin;

• Significantly restructured the example system;

• Refactored the documentation system, greatly improving the documentation;

• Optimized the performance of main_executor;

• Provided a unified backend switch for rpc/channel;

• Provided an independent enable switch for each Module;

• Provided synchronous and asynchronous RPC interfaces, along with related examples;

• Renamed the original coroutine RPC Proxy/Service interfaces to CoProxy/CoService; the old naming will be removed in the next few versions;

• Optimized framework logging, providing an [Initialization Report]; executor information and channel/rpc registration details can now be viewed in the startup logs;

• The console/file logging backend now supports module filtering and allows registering multiple file logging backends simultaneously, making it convenient to print logs from different modules to different files;

• ros2_plugin:

  • The ros2 RPC Backend now supports non-ros2 protocols;

  • The ros2 Channel Backend now supports non-ros2 protocols;

• mqtt_plugin:

  • Fixed several issues with the mqtt plugin;