RMW

The ROS 2 Middleware Interface provides an abstraction layer to different DDS implementations for communication with the ROS 2 Client Library. This package contains the rmw interface for DDS implementation and some general functionality useful for implementers.

For more information, see https://design.ros2.org/articles/ros_middleware_interface.html

Interface and Features

For specific information about the rmw interface and features, see its api docs.

Quality Declaration

This package claims to be in the Quality Level 1 category, see the Quality Declaration for more details.

Changelog for package rmw

7.2.0 (2023-04-27)

7.1.0 (2023-04-12)

• Dynamic Subscription (BONUS: Allocators): rmw (#353)
• Runtime Interface Reflection: rmw (#340)
• [rmw] Improve handling of dynamic discovery (#338)
• rmw_send_reqponse returns RMW_RET_TIMEOUT. (#350)
• Add a note about asynchronicity of discovery. (#352)
• Add matched event support (#331)
• Add type hash to rmw_topic_endpoint_info_t (rep2011) (#348)
• Add in inconsistent topic defines and data structures. (#339)
• Update documented expectations for GIDs (#335)
• Contributors: Barry Xu, Chris Lalancette, Emerson Knapp, Geoffrey Biggs, Jacob Perron, Tomoya Fujita, William Woodall, methylDragon

7.0.1 (2023-02-24)

• Fix rmw->rwm typo (#347)
• Contributors: Emerson Knapp

7.0.0 (2023-02-13)

• Add rmw count clients, services (#334)
• make writer_guid uint8_t[] instead of int8_t for consistency with rmw_gid_t (#329)
• Update rmw to C++17. (#346)
• Reduce GID storage to 16 bytes. (#345)
• Move the RMW_CHECK_TYPE_IDENTIFIERS_MATCH macro to a C header. (#343)
• [rolling] Update maintainers - 2022-11-07 (#337)
• Contributors: Audrow Nash, Brian, Chris Lalancette, Minju, Lee

6.4.0 (2022-11-02)

• Remove unused test_loaned_message_sequence.cpp (#336)
• callback can be NULL to clear in Listener APIs. (#332)
• Add rmw_get_gid_for_client method (#327)
• Contributors: Brian, Nikolai Morin, Tomoya Fujita

6.3.1 (2022-09-13)

6.3.0 (2022-05-03)

• Add \'best available\' QoS policies (#320) The best available policy should select the highest level of service for the QoS setting while matching with the majority of endpoints. For example, in the case of a DDS middleware subscription, this means:
  • Prefer reliable reliability if all existing publishers on the same topic are reliable, otherwise use best effort.
  • Prefer transient local durability if all existing publishers on the same topic are transient local, otherwise use volatile.
  • Prefer manual by topic liveliness if all existing publishers on the same topic are manual by topic, otherwise use automatic.
  • Use a deadline that is equal to the largest deadline of existing publishers on the same topic.
  • Use a liveliness lease duration that is equal to the largest lease duration of existing publishers on the same topic.
• Contributors: Jacob Perron

6.2.0 (2022-04-29)

6.1.0 (2022-03-25)

• Add content filtered topics support. (#302)
• Add sequence numbers to rmw_message_info_t. (#318)
• Add rmw_feature_supported(). (#318)
• Contributors: Chen Lihui, Ivan Santiago Paunovic

6.0.0 (2022-03-01)

• Add EventsExecutor (#286)
• Document that rmw_wait() SHOULD use a monotonic clock (#316)
• Install headers to include/\${PROJECT_NAME} (#317)
• Update rmw_server_is_available() API documentation. (#277)
• Contributors: Ivan Santiago Paunovic, Michel Hidalgo, Shane Loretz, iRobot ROS

5.1.0 (2021-11-19)

• Add client/service QoS getters. (#314)
• Contributors: mauropasse

5.0.0 (2021-09-15)

• Fix up documentation build for rmw when using rosdoc2 (#313)
• Fix up errors in doxygen documentation (#311)
• Fix copy-paste error in API doc for rmw_get_gid_for_publisher (#310)
• Contributors: Chris Lalancette, Christophe Bedard, Michel Hidalgo

4.0.0 (2021-06-02)

• Add rmw_publisher_wait_for_all_acked support. (#296)
• Contributors: Barry Xu

3.3.1 (2021-04-26)

• Document which QoS policies are correctly read by rmw_get_publishers/subscriptions_info_by_topic (#308)
• Contributors: Ivan Santiago Paunovic

3.3.0 (2021-04-06)

• Unique network flows (#294)
• updating quality declaration links (re: ros2/docs.ros2.org#52) (#307)
• Contributors: Ananya Muddukrishna, shonigmann

3.2.0 (2021-03-11)

• Introduce RMW_DURATION_INFINITE constant and API return value promise (#301)
• Contributors: Emerson Knapp

3.1.0 (2021-02-25)

• Add declaration for function to check QoS profile compatibility (#299)
• Update the rmw_take_sequence documentation. (#297)
• Contributors: Chris Lalancette, Jacob Perron

3.0.0 (2021-01-25)

2.2.1 (2020-12-10)

• Update rmw QD to QL 1 (#289)
• Contributors: Stephen Brawner

2.2.0 (2020-11-04)

• Extend rmw_qos_policy_kind_t, add functions to convert it to/from a string (#285)
• Add functions to convert between qos policy values and strings (#284)
• Update maintainers (#282)
• Update service request/response API documentation (#279)
• Update rmw_get_serialized_message_size docblock (#281)
• Update rmw_service_server_is_available doc (#280)
• Update wait and wait sets\' API documentation (#275)
• Update graph API documentation (#272)
• Update service server/client creation/destruction API documentation. (#276)
• Update rmw___allocation return values (#278)
• Update gid API documentation (#274)
• Do not link against pthread on Android (#267)
• Update taking API documentation (#271)
• Update publishing API documentation (#270)
• Add fault injection macros for use in other packages (#254)
• Add bad_alloc return to topic_endpoint_info functions (#269)
• Update publisher/subscription matched count API documentation (#262)
• Update publisher/subscription QoS query API documentation (#263)
• Extend rmw_serialized_message_t tests (#261)
• Update serialization/deserialization API documentation (#258)
• Update subscription API documentation (#256)
• Update publisher creation/destruction API documentation (#252)
• Contributors: Alejandro Hern