rmw_implementation

Proxy implementation of the ROS 2 Middleware Interface, forwarding calls to the chosen (and dynamically loaded) rmw implementation. RMW_IMPLEMENTATION environment variable, if set, allows the user to select one of the available rmw implementations. Otherwise, the default rmw implementation will be used. Refer to rmw_implementation_cmake package to learn about this default.

Quality Declaration

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

Changelog for package rmw_implementation

2.15.4 (2024-12-18)

• Make sure to find_package(rmw) in rmw_implementation. (#242) (#245) This is required to get access to the register_rmw_implementation CMake macro. (cherry picked from commit e9f60082b76e0621629c146d160b72bdac82ae45) Co-authored-by: Chris Lalancette <<clalancette@gmail.com>>
• Contributors: mergify[bot]

2.15.3 (2024-06-27)

2.15.2 (2024-04-24)

• Update quality declaration document (#225) (#226)
• Contributors: mergify[bot]

2.15.1 (2024-03-28)

2.15.0 (2023-12-26)

• Switch to using target_link_libraries everywhere. (#222)
• Contributors: Chris Lalancette

2.14.0 (2023-10-04)

• Add rmw_count_clients,services & test (#208)
• Contributors: Minju, Lee

2.13.0 (2023-04-27)

2.12.0 (2023-04-11)

• Dynamic Subscription (BONUS: Allocators): rmw_implementation (#219)
• Runtime Interface Reflection: rmw_implementation (#215)
• Mark the benchmark _ variables as unused. (#218)
• Contributors: Chris Lalancette, methylDragon

2.11.0 (2023-02-13)

• Update rmw_implementation to C++17. (#214)
• [rolling] Update maintainers - 2022-11-07 (#212)
• Build-time RMW selection does not need ament_index_cpp (#210)
• Contributors: Audrow Nash, Chris Lalancette, G.A. vd. Hoorn

2.10.0 (2022-11-02)

• Add rmw_get_gid_for_client & tests (#206)
• Contributors: Brian

2.9.1 (2022-09-13)

2.9.0 (2022-04-29)

2.8.1 (2022-03-28)

• add content-filtered-topic interfaces (#181)
• Add rmw_feature_supported() (#204)
• Contributors: Chen Lihui, Ivan Santiago Paunovic

2.8.0 (2022-03-01)

• Add EventsExecutor (#161)
• Contributors: iRobot ROS

2.7.1 (2022-01-14)

• Fix relative path include syntax for cpplint (#203)
• Support and prefer exported targets from rmw implementations (#201)
• Contributors: Jacob Perron, Shane Loretz

2.7.0 (2021-11-19)

• Add client/service QoS getters. (#196)
• Update maintainers to Audrow Nash and Michael Carroll. (#199)
• Contributors: Audrow Nash, mauropasse

2.6.1 (2021-11-18)

• Fix renamed [rcpputils]{.title-ref} header (#198)
• Fix rmw_implementation generated documentation (#197)
• Contributors: Abrar Rahman Protyasha, Michel Hidalgo

2.6.0 (2021-08-09)

• Add rmw_publisher_wait_for_all_acked. (#188)
• Contributors: Barry Xu

2.5.0 (2021-05-05)

• Attempt to load any available RMW implementation. (#189)
• Update includes after rcutils/get_env.h deprecation (#190)
• Contributors: Chris Lalancette, Christophe Bedard

2.4.1 (2021-04-16)

2.4.0 (2021-04-06)

• Unique network flows (#170)
• updating quality declaration links (re: ros2/docs.ros2.org#52) (#185)
• Contributors: Ananya Muddukrishna, shonigmann

2.3.0 (2021-03-25)

• Remove rmw_connext_cpp. (#183)
• Add support for rmw_connextdds (#182)
• Contributors: Andrea Sorbini, Chris Lalancette

2.2.0 (2021-03-08)

• Add function for checking QoS profile compatibility (#180)
• Shorten some excessively long lines of CMake (#179)
• Add rmw_fastrtps_dynamic_cpp to the explicit group deps (#177)
• Contributors: Jacob Perron, Scott K Logan

2.1.2 (2021-01-29)

• Accept any RMW implementation, not just the default (#172)
• Contributors: Scott K Logan

2.1.1 (2021-01-25)

• Defer path resolution of rmw implementation libraries to dynamic linker. (#169)
• Contributors: Michel Hidalgo

2.1.0 (2020-12-10)

• Update QD to QL 1 (#166)
• Fix up C functions to never throw. (#149)
• Restored Dirk as author (#155)
• Update maintainers (#154)
• Updated performance QD section (#153)
• Update Quality Declaration to QL2. (#151)
• Add nominal test for symbol prefetch() and unload. (#145)
• Added benchmark test to rmw_implementation (#127)
• Test load and lookup functionality. (#135)
• Contributors: Alejandro Hernández Cordero, Michel Hidalgo, Stephen Brawner

2.0.0 (2020-07-08)

• Remove domain_id and localhost_only from node API (#114)
• Move the quality declaration into the rmw_implementation subdirectory. (#111)
• Contributors: Chris Lalancette, Ivan Santiago Paunovic

1.0.0 (2020-05-12)

• Remove MANUAL_BY_NODE liveliness API (#101)
• Contributors: Ivan Santiago Paunovic

0.9.0 (2020-04-25)

• Rename rosidl_message_bounds_t (#98)
• Adapt interfaces for service timestamps (#96)
• Add take_sequence to RMW API (#93)
• Export targets in addition to include directories / libraries (#97)
• Removed ament_cmake_python from package.xml (#95)
• Using get_env_var from rcpputils (#94)
• security-context -> enclave (#91)
• Fix dependency on rmw_implementation_cmake (#92)
• Removed poco dependency (#87)
• Use one participant per context API changes (#77)
• Add rmw_*_event_init() functions to rmw_implementation (#88)
• Moved rmw_implementation_cmake from depend to build_depend (#82)
• Removed python code (#85)
• Remove OpenSplice dependency (#79)
• Code style only: wrap after open parenthesis if not in one line (#78)
• Depend on rcpputils for find_library (#57)
• Added functions to get qos policies for publishers and subscribers to a topic (#72)
• Contributors: Alejandro Hernández Cordero, Dirk Thomas, Eric Cousineau, Ingo Lütkebohle, Ivan Santiago Paunovic, Jacob Perron, Jaison Titus, Miaofei Mei, Michael Carroll, Mikael Arguedas

0.8.2 (2019-11-13)

• Add support for Cyclone DDS. (#71)
• Contributors: Ruffin

0.8.1 (2019-10-23)

• use return_loaned_message_from (#76)
• Add localhost boolean parameter to create node function (#75)
• Zero copy api (#69)
• Add Python API for RMW implementation lookups (#73)
• update signature for added pub/sub options (#74)
• remove unneeded line from CMakeLists (#70)
• Make middleware selection more independent of build-time package availability (#67)
• Contributors: Brian Marchi, Dan Rose, Karsten Knese, Michel Hidalgo, William Woodall

0.8.0 (2019-09-25)

• Add function for getting clients by node (#62)
• add get_actual_qos() feature to subscriptions (#61)
• Contributors: Jacob Perron, M. M

0.7.1 (2019-05-08)

• add interfaces for rmw_take_event and assert_liveliness (#60)
• Rmw preallocate (#51)
• Contributors: Michael Carroll, Nick Burek

0.7.0 (2019-04-13)

• Add function rmw_get_actual_qos (#56)
• cmake: Add [RMW_IMPLEMENTATION_FORCE_POCO]{.title-ref} (#59)
• add missing preload of rmw_set_log_severity (#55)
• Export threading library via extras and not ament_export_libraries to avoid warnings when cross-compiling (#53)
• pass context to wait set and fini context (#52)
• Contributors: Dirk Thomas, Eric Cousineau, Esteve Fernandez, William Woodall, ivanpauno

0.6.1 (2018-12-06)

• Add node graph functions (#49)
• add new functions (#50)
• Methods to retrieve matched count on pub/sub. (#48)
• Contributors: Michael Carroll, Ross Desmond, William Woodall

0.6.0 (2018-11-16)

• use semicolons after macros (#47)
• Include node namespaces in get_node_names. (#46)
• add rmw_get_serialization_format (#43)
• Contributors: Karsten Knese, Michael Carroll, William Woodall

0.5.1 (2018-07-17)

• avoid recursive find (#44)
• Contributors: Dirk Thomas

0.5.0 (2018-06-23)

• Prepare dependencies for bouncy release. (#41)
• _raw function (#31)
• print missing symbol name (#40)
• Merge pull request #39 from ros2/misra_fixup
• Change #if to #ifdef
• improve error messages (#37)
• API to enable log severity setting. (#30)
• Contributors: Dirk Thomas, Karsten Knese, Michael Carroll, Sriram Raghunathan, Steven! Ragnarök

0.4.0 (2017-12-08)

• Merge pull request #36 from ros2/rename_group
• waitset -> wait_set (#34)
• Merge pull request #32 from ros2/rep149
• use format 3
• simplify code relaying all symbols (#29)
• Merge pull request #27 from ros2/fix_deadlock
• prefetch all symbols in rmw_init to avoid later race
• make resolved symbol static to significantly reduce the chance of a deadlock
• Merge pull request #26 from ros2/uncrustify_master
• update style to match latest uncrustify
• Contributors: Dirk Thomas, Karsten Knese, Mikael Arguedas, Morgan Quigley, William Woodall, dhood