ROS2 Services and Actions support

.vscode/settings.json

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+{
+    "ros.distro": "jazzy"
+}

ddsenabler.repos

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+repositories:
+    foonathan_memory_vendor:
+        type: git
+        url: https://github.com/eProsima/foonathan_memory_vendor.git
+        version: v1.3.1
+    fastcdr:
+        type: git
+        url: https://github.com/eProsima/Fast-CDR.git
+        version: 2.x
+    fastdds:
+        type: git
+        url: https://github.com/eProsima/Fast-DDS.git
+        version: feature/json-deserialize
+    dev-utils:
+        type: git
+        url: https://github.com/eProsima/dev-utils.git
+        version: 1.x
+    ddspipe:
+        type: git
+        url: https://github.com/eProsima/DDS-Pipe.git
+        version: 1.x
+    ddsenabler:
+        type: git
+        url: https://github.com/eProsima/FIWARE-DDS-Enabler.git
+        version: main

ddsenabler/DDS_ENABLER_CONFIGURATION.json

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+{
+  "dds": {
+    "ddsmodule": {
+      "dds": {
+        "domain": 0,
+        "allowlist": [
+          {
+            "name": "*"
+          }
+        ],
+        "blocklist": [
+          {
+            "name": "add_blocked_topics_list_here"
+          }
+        ]
+      },
+      "topics": {
+        "name": "*",
+        "qos": {
+          "durability": "TRANSIENT_LOCAL",
+          "history-depth": 10
+        }
+      },
+      "ddsenabler": null,
+      "specs": {
+        "threads": 12,
+        "logging": {
+          "stdout": false,
+          "verbosity": "info"
+        }
+      }
+    },
+    "ngsild": {
+      "topics": {
+        "P1": {
+          "entityType": "Camera",
+          "entityId": "urn:ngsi-ld:camera:cam1",
+          "attribute": "shutterSpeed"
+        },
+        "P2": {
+          "entityType": "Arm",
+          "entityId": "urn:ngsi-ld:arm:arm1",
+          "attribute": "armReach"
+        }
+      }
+    }
+  }
+}