rmw_dds_common: ROS 2 C++ utilities for DDS-based RMWs

rmw_dds_common is a collection of C++ APIs to support DDS based, C++ RMW implementations.

Quality Declaration

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

API

This package contains:

• Generic graph cache
• Common discovery messages
• Data types and utilities

See feature list for further reference.

Changelog for package rmw_dds_common

3.3.0 (2025-04-25)

3.2.1 (2025-02-14)

• Deprecated security methods (#77)
• Contributors: Alejandro Hernández Cordero

3.2.0 (2024-04-26)

3.1.0 (2024-04-10)

• Add pkcs11 support to get_security_files (#66)
• Contributors: Miguel Company

3.0.0 (2023-11-06)

• make a new private mutex and add updating graph methods (#73)
• Contributors: Chen Lihui

2.1.1 (2023-10-09)

• Just remove rcpputils::fs dependency (#72)
• Contributors: Kenta Yonekura

2.1.0 (2023-04-27)

2.0.1 (2023-04-11)

• Type hash in GraphCache, user_data encoding tools (#70)
• Mark benchmark _ as unused. (#71)
• Contributors: Chris Lalancette, Emerson Knapp

2.0.0 (2023-02-13)

• Update rmw_dds_common to C++17. (#69)
• Change Gid.msg to be 16 bytes. (#68)
• Minor cleanups of test_qos. (#67)
• [rolling] Update maintainers - 2022-11-07 (#65)
• Contributors: Audrow Nash, Chris Lalancette

1.7.1 (2022-09-13)

• build shared lib only if BUILD_SHARED_LIBS is set (#62)
• Update maintainers (#61)
• Contributors: hannes09, methylDragon

1.7.0 (2022-05-03)

• Add functions for resolving 'best available' QoS policies (#60) Given a QoS profile and set of endpoints for the same topic, overwrite any policies set to BEST_AVAILABLE with a policy such that it matches all endpoints while maintaining a high level of service. Add testable functions for updating BEST_AVAILABLE policies,
  • qos_profile_get_best_available_for_subscription

  * qos_profile_get_best_available_for_publisher and add convenience functions that actual query the graph for RMW implementations to use,

  • qos_profile_get_best_available_for_topic_subscription
  • qos_profile_get_best_available_for_topic_publisher
• Contributors: Jacob Perron

1.6.0 (2022-03-31)

• Depend on target generated by rosidl_typesupport_cpp (#58)
• Contributors: Shane Loretz

1.5.1 (2022-03-25)

• Use rosidl_get_typesupport_target() and target_link_libraries(). (#57)
• Contributors: Shane Loretz

1.5.0 (2022-03-01)

• Install headers to include/${PROJECT_NAME} (#56)
• Contributors: Shane Loretz

1.4.1 (2022-01-14)

• Fix include order for cpplint (#55)
• Contributors: Jacob Perron

1.4.0 (2021-09-16)

• Fix up rmw_dds_common documentation when using rosdoc2 (#54)
• Add support for Certificate Revocation List files (#52)
• Silence clang warning ([range-loop-construct]{.title-ref}) (#53)
• Contributors: Chris Lalancette, Karsten Knese, Michel Hidalgo

1.3.0 (2021-06-28)

• Add a common function for security files. (#51)
• Normalize rmw_time_t according to DDS spec (#48)
• Contributors: Andrea Sorbini, Chris Lalancette

1.2.1 (2021-04-06)

• Fix one more instance of index.ros.org. (#49)
• updating quality declaration links (re: ros2/docs.ros2.org#52) (#46)
• Contributors: Chris Lalancette, shonigmann

1.2.0 (2021-02-28)

• Add function for checking QoS profile compatibility (#45)
• Shorten some excessively long lines of CMake (#44)
• Fix test_graph_cache ASAN errors (#41) (#42)
• Contributors: Jacob Perron, Scott K Logan, y-okumura-isp

1.1.1 (2020-12-10)

• Update QD to QL 1 (#38)
• Contributors: Stephen Brawner

1.1.0 (2020-11-11)

• Create a utility function to limit rmw_time_t to 32-bit values (#37)
• Update maintainers (#34)
• Updated performance section QD (#30)
• Update Quality Declaration to QL2 (#31)
• Added benchmark test to rmw_dds_common (#29)
• Fix potential memory leak (#28)
• Add fault injection macro unit tests (#27)
• Fixed some doxygen warnings (#26)
• Update Quality Declaration to QL3 (#24)
• Update QD and documentation (#23)
• Contributors: Alejandro Hernández Cordero, Chen Lihui, Ivan Santiago Paunovic, Michael Jeronimo, Michel Hidalgo, Stephen Brawner

1.0.1 (2020-06-01)

• Add Security Vulnerability Policy pointing to REP-2006 (#21)
• Fix graph cache tests (#22)
• Contributors: Chris Lalancette, Michel Hidalgo

1.0.0 (2020-05-26)

• Added Doxyfile (#19)
• Improve test coverage. (#20)
• Add README and QUALITY_DECLARATION for current QL level (#17)
• Contributors: Alejandro Hernández Cordero, Michel Hidalgo, Stephen Brawner

0.1.0 (2020-04-25)

• Export targets in addition to include directories / libraries (#15)
• Increasing code coverage (#14)
• security-context -> enclave (#13)
• Make rmw_dds_common use rosidl_generator_interfaces normally (#12)
• Changed rosidl_generator_cpp with rosidl_runtime_cpp (#10)
• Fix windows warning (#7)
• First implementation (#4)
• Contributors: Alejandro Hernández Cordero, Dirk Thomas, Ivan Santiago Paunovic, Mikael Arguedas