ROS Index
Repository Summary
| Checkout URI | https://github.com/eProsima/Fast-DDS.git |
| VCS Type | git |
| VCS Version | 2.6.x |
| Last Updated | 2025-04-22 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| fastrtps | 2.6.10 |
README
eProsima Fast DDS
eprosima Fast DDS is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. eProsima Fast DDS expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.
Some of the main features of this library are:
- Configurable best-effort and reliable publish-subscribe communication policies for real-time applications.
- Plug and play connectivity so that any new applications are automatically discovered by any other members of the network.
- Modularity and scalability to allow continuous growth with complex and simple devices in the network.
- Configurable network behavior and interchangeable transport layer: Choose the best protocol and system input/output channel combination for each deployment.
- Two API Layers: a high-level Publisher-Subscriber one focused on usability (DDS) and a lower-level Writer-Reader one that provides finer access to the inner workings of the RTPS protocol.
eProsima Fast DDS has been adopted by multiple organizations in many sectors including these important cases:
- Robotics: ROS (Robotic Operating System) as their default middleware for every ROS 2 long term (LTS) releases and most of the non-LTS releases.
- EU R&D: FIWARE Incubated GE.
This project is part of FIWARE. For more information check the FIWARE Catalogue entry for Robotics.
Commercial support
Looking for commercial support? Write us to info@eprosima.com
Find more about us at eProsima’s webpage.
Want us to share your project with the community?
Write to evaluation.support@eprosima.com or mention @EProsima on Twitter. We are curious to get to know your use case!
Supported platforms
More information about the official support can be found here
- Linux
- Linux-aarch64
- Windows
- Mac
Installation Guide
You can get either a binary distribution of eprosima Fast DDS or compile the library yourself from source. Please, refer to Fast DDS documentation for the complete installation guide.
Installation from binaries
The latest, up to date binary release of eprosima Fast DDS can be obtained from the company website.
Documentation
You can access the documentation online, which is hosted on Read the Docs.
File truncated at 100 lines see the full file
CONTRIBUTING
Contribution Guidelines
The following documents constitutes a set of guidelines to which contributors must adhere.
Contributions Licensing
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Developer Certificate of Origin
Contributors must sign-off each commit by adding a Signed-off-by: ...
line to commit messages to certify that they have the right to submit
the code they are contributing to the project according to the
Developer Certificate of Origin (DCO).
Code Coverage
As stated in QUALITY.md, all contributions to the project must increase line code coverage. Because of this, contributors are asked to locally run a coverage assessment that ensures that code coverage has increased when compared to the latest execution of the nightly coverage CI job.
Issues and Support
eProsima Fast DDS developers welcome all contributions, and we will be grateful if you follow the guidelines below while contributing to this project. Firs of all, there are several products related with Fast DDS. Please, open the issue in the corresponding repository:
- Fast DDS documentation
- Fast DDS-Gen
- Foonathan memory vendor
- Fast CDR
- Shapes Demo
- ROS 2 Fast DDS RMW
- Fast DDS Statistics Backend
- Fast DDS Monitor
- DDS Router
Also, this project classifies user issues in the following categories. Please, help us giving you a better support by opening your issue in the corresponding category.
Issues
Fast DDS issues are understood as bug reports and may be opened by anyone here. Consequently, this section handles malfunctions in the current documented behavior of the library or non-compliances to the DDS specification. If you are unsure on whether your experienced behavior falls into this category, please open a ticket in the Support discussion forum and, if it is a malfunction, an issue will be opened on your behalf with the provided report.
An issue template is provided and it is really appreciated if all related information is provided so the issue may be reproduced.
Otherwise, more information could be required in order to reproduce and solve the issue.
If this is the case, the issue will be labeled with need more info.
Please, be advised that in case that no response is received within a month, the issue would be closed due to inactivity.
The issue may be reopened if the required information is provided.
Feature request
Feature requests and improvements suggestions should be opened in the Ideas discussion forum. Please, remember to select the corresponging category while opening the discussion. It is also encouraged to contact directly with eProsima support team for a feature evaluation.
Q&A
Questions about eProsima Fast DDS behavior and features should be opened in the Q&A (Questions & Answers) discussion forum. Please, remember to select the correct category while opening the discussion. It is strongly advised to first consult eProsima Fast DDS documentation and previous Q&A in the forum.
Support
Most user issues would fall in this category. eProsima Fast DDS provides a lot of features and tuning the library for optimal behavior for each use case is not an easy task. These issues should be opened in the Support discussion forum. Please, remember to select the corresponding category while opening the discussion. Please, take into account that eProsima Fast DDS provides official support for the Tier 1 platforms, architectures and compilers defined here. Any other support should be opened in the next section: Unofficial support
Unofficial support
Any issue related with a non-officially supported platform, architecture and/or compiler should be opened in the Unofficial support discussion forum. Please, remember to select the corresponding category while opening the discussion. If official support is wanted for any platform, architecture and/or compiler, please contact directly with eProsima support team for an evaluation.
Repository Summary
| Checkout URI | https://github.com/eProsima/Fast-DDS.git |
| VCS Type | git |
| VCS Version | 2.14.x |
| Last Updated | 2025-06-13 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| fastrtps | 2.14.4 |
README
eprosima Fast DDS (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. eProsima Fast DDS expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.
Some of the main features of this library are:
- Configurable best-effort and reliable publish-subscribe communication policies for real-time applications.
- Plug and play connectivity so that any new applications are automatically discovered by any other members of the network.
- Modularity and scalability to allow continuous growth with complex and simple devices in the network.
- Configurable network behavior and interchangeable transport layer: Choose the best protocol and system input/output channel combination for each deployment.
- Two API Layers: a high-level Publisher-Subscriber one focused on usability (DDS) and a lower-level Writer-Reader one that provides finer access to the inner workings of the RTPS protocol.
eProsima Fast DDS has been adopted by multiple organizations in many sectors including these important cases:
- Robotics: ROS (Robotic Operating System) as their default middleware for every ROS 2 long term (LTS) releases and most of the non-LTS releases.
- EU R&D: FIWARE Incubated GE.
This project is part of FIWARE. For more information check the FIWARE Catalogue entry for Robotics.
Commercial support
Looking for commercial support? Write us to info@eprosima.com
Find more about us at eProsima’s webpage.
Want us to share your project with the community?
Write to evaluation.support@eprosima.com or mention @EProsima on Twitter. We are curious to get to know your use case!
Supported platforms
More information about the official support can be found here
Installation Guide
You can get either a binary distribution of eprosima Fast DDS or compile the library yourself from source. Please, refer to Fast DDS documentation for the complete installation guide.
Installation from binaries
The latest, up to date binary release of eprosima Fast DDS can be obtained from the company website.
Documentation
You can access the documentation online, which is hosted on Read the Docs.
- Start Page
- Installation manual
- User manual
- Fast DDS-Gen manual
- Fast DDS CLI manual
- eProsima Docker image manual
- Release notes
Quality Declaration
eprosima Fast DDS claims to be in the Quality Level 1 category based on the guidelines provided by ROS 2.
File truncated at 100 lines see the full file
CONTRIBUTING
Contribution Guidelines
The following documents constitutes a set of guidelines to which contributors must adhere.
Contributions Licensing
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Developer Certificate of Origin
Contributors must sign-off each commit by adding a Signed-off-by: ...
line to commit messages to certify that they have the right to submit
the code they are contributing to the project according to the
Developer Certificate of Origin (DCO).
Code Coverage
As stated in QUALITY.md, all contributions to the project must increase line code coverage. Because of this, contributors are asked to locally run a coverage assessment that ensures that code coverage has increased when compared to the latest execution of the nightly coverage CI job.
Issues and Support
eProsima Fast DDS developers welcome all contributions, and we will be grateful if you follow the guidelines below while contributing to this project. Firs of all, there are several products related with Fast DDS. Please, open the issue in the corresponding repository:
- Fast DDS documentation
- Fast DDS-Gen
- Foonathan memory vendor
- Fast CDR
- Shapes Demo
- ROS 2 Fast DDS RMW
- Fast DDS Statistics Backend
- Fast DDS Monitor
- DDS Router
Also, this project classifies user issues in the following categories. Please, help us giving you a better support by opening your issue in the corresponding category.
Issues
Fast DDS issues are understood as bug reports and may be opened by anyone here. Consequently, this section handles malfunctions in the current documented behavior of the library or non-compliances to the DDS specification. If you are unsure on whether your experienced behavior falls into this category, please open a ticket in the Support discussion forum and, if it is a malfunction, an issue will be opened on your behalf with the provided report.
An issue template is provided and it is really appreciated if all related information is provided so the issue may be reproduced.
Otherwise, more information could be required in order to reproduce and solve the issue.
If this is the case, the issue will be labeled with need more info.
Please, be advised that in case that no response is received within a month, the issue would be closed due to inactivity.
The issue may be reopened if the required information is provided.
Feature request
Feature requests and improvements suggestions should be opened in the Ideas discussion forum. Please, remember to select the corresponding category while opening the discussion. It is also encouraged to contact directly with eProsima support team for a feature evaluation.
Q&A
Questions about eProsima Fast DDS behavior and features should be opened in the Q&A (Questions & Answers) discussion forum. Please, remember to select the correct category while opening the discussion. It is strongly advised to first consult eProsima Fast DDS documentation and previous Q&A in the forum.
Support
Most user issues would fall in this category. eProsima Fast DDS provides a lot of features and tuning the library for optimal behavior for each use case is not an easy task. These issues should be opened in the Support discussion forum. Please, remember to select the corresponding category while opening the discussion. Please, take into account that eProsima Fast DDS provides official support for the Tier 1 platforms, architectures and compilers defined here. Any other support should be opened in the next section: Unofficial support
Unofficial support
Any issue related with a non-officially supported platform, architecture and/or compiler should be opened in the Unofficial support discussion forum. Please, remember to select the corresponding category while opening the discussion. If official support is wanted for any platform, architecture and/or compiler, please contact directly with eProsima support team for an evaluation.
Repository Summary
| Checkout URI | https://github.com/eProsima/Fast-DDS.git |
| VCS Type | git |
| VCS Version | 3.2.x |
| Last Updated | 2025-06-13 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| fastdds | 3.2.2 |
README
eprosima Fast DDS is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. eProsima Fast DDS expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.
Some of the main features of this library are:
- Configurable best-effort and reliable publish-subscribe communication policies for real-time applications.
- Plug and play connectivity so that any new applications are automatically discovered by any other members of the network.
- Modularity and scalability to allow continuous growth with complex and simple devices in the network.
- Configurable network behavior and interchangeable transport layer: Choose the best protocol and system input/output channel combination for each deployment.
- Two API Layers: a high-level Publisher-Subscriber one focused on usability (DDS) and a lower-level Writer-Reader one that provides finer access to the inner workings of the RTPS protocol.
eProsima Fast DDS has been adopted by multiple organizations in many sectors including these important cases:
- Robotics: ROS (Robotic Operating System) as their default middleware for every ROS 2 long term (LTS) releases and most of the non-LTS releases.
- EU R&D: FIWARE Incubated GE.
This project is part of FIWARE. For more information check the FIWARE Catalogue entry for Robotics.
Commercial support
Looking for commercial support? Write us to info@eprosima.com
Find more about us at eProsima’s webpage.
Want us to share your project with the community?
Write to evaluation.support@eprosima.com or mention @EProsima on Twitter. We are curious to get to know your use case!
Supported platforms
More information about the official support can be found here
Installation Guide
You can get either a binary distribution of eprosima Fast DDS or compile the library yourself from source. Please, refer to Fast DDS documentation for the complete installation guide.
Installation from binaries
The latest, up to date binary release of eprosima Fast DDS can be obtained from the company website.
Documentation
You can access the documentation online, which is hosted on Read the Docs.
- Start Page
- Installation manual
- User manual
- Fast DDS-Gen manual
- Fast DDS CLI manual
- eProsima Docker image manual
- Release notes
Quality Declaration
eprosima Fast DDS claims to be in the Quality Level 1 category based on the guidelines provided by ROS 2. See the Quality Declaration for more details.
Quick Demo
File truncated at 100 lines see the full file
CONTRIBUTING
Contribution Guidelines
The following documents constitutes a set of guidelines to which contributors must adhere.
Contributions Licensing
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Developer Certificate of Origin
Contributors must sign-off each commit by adding a Signed-off-by: ...
line to commit messages to certify that they have the right to submit
the code they are contributing to the project according to the
Developer Certificate of Origin (DCO).
Code Coverage
As stated in QUALITY.md, all contributions to the project must increase line code coverage. Because of this, contributors are asked to locally run a coverage assessment that ensures that code coverage has increased when compared to the latest execution of the nightly coverage CI job.
Issues and Support
eProsima Fast DDS developers welcome all contributions, and we will be grateful if you follow the guidelines below while contributing to this project. Firs of all, there are several products related with Fast DDS. Please, open the issue in the corresponding repository:
- Fast DDS documentation
- Fast DDS-Gen
- Foonathan memory vendor
- Fast CDR
- Shapes Demo
- ROS 2 Fast DDS RMW
- Fast DDS Statistics Backend
- Fast DDS Monitor
- DDS Router
Also, this project classifies user issues in the following categories. Please, help us giving you a better support by opening your issue in the corresponding category.
Issues
Fast DDS issues are understood as bug reports and may be opened by anyone here. Consequently, this section handles malfunctions in the current documented behavior of the library or non-compliances to the DDS specification. If you are unsure on whether your experienced behavior falls into this category, please open a ticket in the Support discussion forum and, if it is a malfunction, an issue will be opened on your behalf with the provided report.
An issue template is provided and it is really appreciated if all related information is provided so the issue may be reproduced.
Otherwise, more information could be required in order to reproduce and solve the issue.
If this is the case, the issue will be labeled with need more info.
Please, be advised that in case that no response is received within a month, the issue would be closed due to inactivity.
The issue may be reopened if the required information is provided.
Feature request
Feature requests and improvements suggestions should be opened in the Ideas discussion forum. Please, remember to select the corresponding category while opening the discussion. It is also encouraged to contact directly with eProsima support team for a feature evaluation.
Q&A
Questions about eProsima Fast DDS behavior and features should be opened in the Q&A (Questions & Answers) discussion forum. Please, remember to select the correct category while opening the discussion. It is strongly advised to first consult eProsima Fast DDS documentation and previous Q&A in the forum.
Support
Most user issues would fall in this category. eProsima Fast DDS provides a lot of features and tuning the library for optimal behavior for each use case is not an easy task. These issues should be opened in the Support discussion forum. Please, remember to select the corresponding category while opening the discussion. Please, take into account that eProsima Fast DDS provides official support for the Tier 1 platforms, architectures and compilers defined here. Any other support should be opened in the next section: Unofficial support
Unofficial support
Any issue related with a non-officially supported platform, architecture and/or compiler should be opened in the Unofficial support discussion forum. Please, remember to select the corresponding category while opening the discussion. If official support is wanted for any platform, architecture and/or compiler, please contact directly with eProsima support team for an evaluation.
Repository Summary
| Checkout URI | https://github.com/eProsima/Fast-DDS.git |
| VCS Type | git |
| VCS Version | 3.2.x |
| Last Updated | 2025-06-13 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| fastdds | 3.2.2 |
README
eprosima Fast DDS is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. eProsima Fast DDS expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.
Some of the main features of this library are:
- Configurable best-effort and reliable publish-subscribe communication policies for real-time applications.
- Plug and play connectivity so that any new applications are automatically discovered by any other members of the network.
- Modularity and scalability to allow continuous growth with complex and simple devices in the network.
- Configurable network behavior and interchangeable transport layer: Choose the best protocol and system input/output channel combination for each deployment.
- Two API Layers: a high-level Publisher-Subscriber one focused on usability (DDS) and a lower-level Writer-Reader one that provides finer access to the inner workings of the RTPS protocol.
eProsima Fast DDS has been adopted by multiple organizations in many sectors including these important cases:
- Robotics: ROS (Robotic Operating System) as their default middleware for every ROS 2 long term (LTS) releases and most of the non-LTS releases.
- EU R&D: FIWARE Incubated GE.
This project is part of FIWARE. For more information check the FIWARE Catalogue entry for Robotics.
Commercial support
Looking for commercial support? Write us to info@eprosima.com
Find more about us at eProsima’s webpage.
Want us to share your project with the community?
Write to evaluation.support@eprosima.com or mention @EProsima on Twitter. We are curious to get to know your use case!
Supported platforms
More information about the official support can be found here
Installation Guide
You can get either a binary distribution of eprosima Fast DDS or compile the library yourself from source. Please, refer to Fast DDS documentation for the complete installation guide.
Installation from binaries
The latest, up to date binary release of eprosima Fast DDS can be obtained from the company website.
Documentation
You can access the documentation online, which is hosted on Read the Docs.
- Start Page
- Installation manual
- User manual
- Fast DDS-Gen manual
- Fast DDS CLI manual
- eProsima Docker image manual
- Release notes
Quality Declaration
eprosima Fast DDS claims to be in the Quality Level 1 category based on the guidelines provided by ROS 2. See the Quality Declaration for more details.
Quick Demo
File truncated at 100 lines see the full file
CONTRIBUTING
Contribution Guidelines
The following documents constitutes a set of guidelines to which contributors must adhere.
Contributions Licensing
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Developer Certificate of Origin
Contributors must sign-off each commit by adding a Signed-off-by: ...
line to commit messages to certify that they have the right to submit
the code they are contributing to the project according to the
Developer Certificate of Origin (DCO).
Code Coverage
As stated in QUALITY.md, all contributions to the project must increase line code coverage. Because of this, contributors are asked to locally run a coverage assessment that ensures that code coverage has increased when compared to the latest execution of the nightly coverage CI job.
Issues and Support
eProsima Fast DDS developers welcome all contributions, and we will be grateful if you follow the guidelines below while contributing to this project. Firs of all, there are several products related with Fast DDS. Please, open the issue in the corresponding repository:
- Fast DDS documentation
- Fast DDS-Gen
- Foonathan memory vendor
- Fast CDR
- Shapes Demo
- ROS 2 Fast DDS RMW
- Fast DDS Statistics Backend
- Fast DDS Monitor
- DDS Router
Also, this project classifies user issues in the following categories. Please, help us giving you a better support by opening your issue in the corresponding category.
Issues
Fast DDS issues are understood as bug reports and may be opened by anyone here. Consequently, this section handles malfunctions in the current documented behavior of the library or non-compliances to the DDS specification. If you are unsure on whether your experienced behavior falls into this category, please open a ticket in the Support discussion forum and, if it is a malfunction, an issue will be opened on your behalf with the provided report.
An issue template is provided and it is really appreciated if all related information is provided so the issue may be reproduced.
Otherwise, more information could be required in order to reproduce and solve the issue.
If this is the case, the issue will be labeled with need more info.
Please, be advised that in case that no response is received within a month, the issue would be closed due to inactivity.
The issue may be reopened if the required information is provided.
Feature request
Feature requests and improvements suggestions should be opened in the Ideas discussion forum. Please, remember to select the corresponding category while opening the discussion. It is also encouraged to contact directly with eProsima support team for a feature evaluation.
Q&A
Questions about eProsima Fast DDS behavior and features should be opened in the Q&A (Questions & Answers) discussion forum. Please, remember to select the correct category while opening the discussion. It is strongly advised to first consult eProsima Fast DDS documentation and previous Q&A in the forum.
Support
Most user issues would fall in this category. eProsima Fast DDS provides a lot of features and tuning the library for optimal behavior for each use case is not an easy task. These issues should be opened in the Support discussion forum. Please, remember to select the corresponding category while opening the discussion. Please, take into account that eProsima Fast DDS provides official support for the Tier 1 platforms, architectures and compilers defined here. Any other support should be opened in the next section: Unofficial support
Unofficial support
Any issue related with a non-officially supported platform, architecture and/or compiler should be opened in the Unofficial support discussion forum. Please, remember to select the corresponding category while opening the discussion. If official support is wanted for any platform, architecture and/or compiler, please contact directly with eProsima support team for an evaluation.
Repository Summary
| Checkout URI | https://github.com/eProsima/Fast-DDS.git |
| VCS Type | git |
| VCS Version | ros2-eloquent |
| Last Updated | 2021-02-19 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
README
eProsima Fast RTPS
eprosima Fast RTPS is a C++ implementation of the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard, again by the OMG. eProsima Fast RTPS holds the benefit of being standalone and up-to-date, as most vendor solutions either implement RTPS as a tool to implement DDS or use past versions of the specification.
Some of the main features of this library are:
- Configurable best-effort and reliable publish-subscribe communication policies for real-time applications.
- Plug and play connectivity so that any new applications are automatically discovered by any other members of the network.
- Modularity and scalability to allow continuous growth with complex and simple devices in the network.
- Configurable network behavior and interchangeable transport layer: Choose the best protocol and system input/output channel combination for each deployment.
- Two API Layers: a high-level Publisher-Subscriber one focused on usability and a lower-level Writer-Reader one that provides finer access to the inner workings of the RTPS protocol.
eProsima Fast RTPS has been adopted by multiple organizations in many sectors including these important cases:
- Robotics: ROS (Robotic Operating System) as their default middleware for ROS2.
- EU R&D: FIWARE Incubated GE.
Supported platforms
- Linux
- Windows
- Mac
Installation Guide
You can get either a binary distribution of eprosima Fast RTPS or compile the library yourself from source.
Installation from binaries
The latest, up to date binary release of eprosima Fast RTPS can be obtained from the company website.
Installation from Source
Dependencies
Asio and TinyXML2 libraries
On Linux, you can install these libraries using the package manager of your Linux distribution. For example, on Ubuntu you can install them by using its package manager with the next command.
sudo apt install libasio-dev libtinyxml2-dev
On Windows, you can install these libraries using Chocolatey. First, download the following chocolatey packages from this ROS2 Github repository.
- asio.1.12.1.nupkg
- tinyxml2.6.0.0.nupkg
Once these packages are downloaded, open an administrative shell and execute the following command:
choco install -y -s <PATH\TO\DOWNLOADS\> asio tinyxml2
Please replace <PATH\TO\DOWNLOADS> with the folder you downloaded the packages to.
Colcon installation
colcon is a command line tool to build sets of software packages. This section explains to use it to compile easily Fast-RTPS and its dependencies. First install ROS2 development tools (colcon and vcstool):
pip install -U colcon-common-extensions vcstool
Download the repos file that will be used to download Fast RTPS and its dependencies:
$ wget https://raw.githubusercontent.com/eProsima/Fast-RTPS/master/fastrtps.repos
$ mkdir src
$ vcs import src < fastrtps.repos
Finally, use colcon to compile all software:
$ colcon build
Manual installation
Before compiling manually Fast RTPS you need to clone the following dependencies and compile them using CMake.
File truncated at 100 lines see the full file
CONTRIBUTING
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Repository Summary
| Checkout URI | https://github.com/eProsima/Fast-DDS.git |
| VCS Type | git |
| VCS Version | 2.3.x |
| Last Updated | 2021-10-11 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| fastrtps | 2.3.4 |
README
eProsima Fast DDS
eprosima Fast DDS (formerly Fast RTPS) is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. eProsima Fast DDS expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.
Some of the main features of this library are:
- Configurable best-effort and reliable publish-subscribe communication policies for real-time applications.
- Plug and play connectivity so that any new applications are automatically discovered by any other members of the network.
- Modularity and scalability to allow continuous growth with complex and simple devices in the network.
- Configurable network behavior and interchangeable transport layer: Choose the best protocol and system input/output channel combination for each deployment.
- Two API Layers: a high-level Publisher-Subscriber one focused on usability (DDS) and a lower-level Writer-Reader one that provides finer access to the inner workings of the RTPS protocol.
eProsima Fast DDS has been adopted by multiple organizations in many sectors including these important cases:
- Robotics: ROS (Robotic Operating System) as their default middleware for ROS2 until and including the latest long term release Foxy Fitzroy.
- EU R&D: FIWARE Incubated GE.
This project is part of FIWARE. For more information check the FIWARE Catalogue entry for Robotics.
Want us to share your project with the community?
Write to evaluation.support@eprosima.com or mention @EProsima on Twitter. We are curious to get to know your use case!
Supported platforms
- Linux
- Linux-aarch64
- Windows
- Mac
Installation Guide
You can get either a binary distribution of eprosima Fast DDS or compile the library yourself from source.
Installation from binaries
The latest, up to date binary release of eprosima Fast DDS can be obtained from the company website.
Installation from Source
Dependencies
Asio and TinyXML2 libraries
On Linux, you can install these libraries using the package manager of your Linux distribution. For example, on Ubuntu you can install them by using its package manager with the next command.
sudo apt install libasio-dev libtinyxml2-dev
On Windows, you can install these libraries using Chocolatey. First, download the following chocolatey packages from this ROS2 Github repository.
- asio.1.12.1.nupkg
- tinyxml2.6.0.0.nupkg
Once these packages are downloaded, open an administrative shell and execute the following command:
choco install -y -s <PATH\TO\DOWNLOADS\> asio tinyxml2
Please replace <PATH\TO\DOWNLOADS> with the folder you downloaded the packages to.
Colcon installation
colcon is a command line tool to build sets of software packages. This section explains to use it to compile easily Fast-RTPS and its dependencies. First install ROS2 development tools (colcon and vcstool):
File truncated at 100 lines see the full file
CONTRIBUTING
Contribution Guidelines
The following documents constitutes a set of guidelines to which contributors must adhere.
- Contributions Licensing
- Developer Certificate of Origin
-
Code Coverage
Contributions Licensing
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Developer Certificate of Origin
Contributors must sign-off each commit by adding a Signed-off-by: ...
line to commit messages to certify that they have the right to submit
the code they are contributing to the project according to the
Developer Certificate of Origin (DCO).
Code Coverage
As stated in QUALITY.md, all contributions to the project must increase line code coverage. Because of this, contributors are asked to locally run a coverage assessment that ensures that code coverage has increased when compared to the latest execution of the nightly coverage CI job.
Repository Summary
| Checkout URI | https://github.com/eProsima/Fast-DDS.git |
| VCS Type | git |
| VCS Version | 2.10.x |
| Last Updated | 2025-06-02 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| fastrtps | 2.10.7 |
README
eProsima Fast DDS
eprosima Fast DDS is a C++ implementation of the DDS (Data Distribution Service) standard of the OMG (Object Management Group). eProsima Fast DDS implements the RTPS (Real Time Publish Subscribe) protocol, which provides publisher-subscriber communications over unreliable transports such as UDP, as defined and maintained by the Object Management Group (OMG) consortium. RTPS is also the wire interoperability protocol defined for the Data Distribution Service (DDS) standard. eProsima Fast DDS expose an API to access directly the RTPS protocol, giving the user full access to the protocol internals.
Some of the main features of this library are:
- Configurable best-effort and reliable publish-subscribe communication policies for real-time applications.
- Plug and play connectivity so that any new applications are automatically discovered by any other members of the network.
- Modularity and scalability to allow continuous growth with complex and simple devices in the network.
- Configurable network behavior and interchangeable transport layer: Choose the best protocol and system input/output channel combination for each deployment.
- Two API Layers: a high-level Publisher-Subscriber one focused on usability (DDS) and a lower-level Writer-Reader one that provides finer access to the inner workings of the RTPS protocol.
eProsima Fast DDS has been adopted by multiple organizations in many sectors including these important cases:
- Robotics: ROS (Robotic Operating System) as their default middleware for every ROS 2 long term (LTS) releases and most of the non-LTS releases.
- EU R&D: FIWARE Incubated GE.
This project is part of FIWARE. For more information check the FIWARE Catalogue entry for Robotics.
Commercial support
Looking for commercial support? Write us to info@eprosima.com
Find more about us at eProsima’s webpage.
Want us to share your project with the community?
Write to evaluation.support@eprosima.com or mention @EProsima on Twitter. We are curious to get to know your use case!
Supported platforms
More information about the official support can be found here
Installation Guide
You can get either a binary distribution of eprosima Fast DDS or compile the library yourself from source. Please, refer to Fast DDS documentation for the complete installation guide.
Installation from binaries
The latest, up to date binary release of eprosima Fast DDS can be obtained from the company website.
Documentation
You can access the documentation online, which is hosted on Read the Docs.
- Start Page
- Installation manual
- User manual
- Fast DDS-Gen manual
- Fast DDS CLI manual
- eProsima Docker image manual
- Release notes
Quality Declaration
File truncated at 100 lines see the full file
CONTRIBUTING
Contribution Guidelines
The following documents constitutes a set of guidelines to which contributors must adhere.
Contributions Licensing
Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
Developer Certificate of Origin
Contributors must sign-off each commit by adding a Signed-off-by: ...
line to commit messages to certify that they have the right to submit
the code they are contributing to the project according to the
Developer Certificate of Origin (DCO).
Code Coverage
As stated in QUALITY.md, all contributions to the project must increase line code coverage. Because of this, contributors are asked to locally run a coverage assessment that ensures that code coverage has increased when compared to the latest execution of the nightly coverage CI job.
Issues and Support
eProsima Fast DDS developers welcome all contributions, and we will be grateful if you follow the guidelines below while contributing to this project. Firs of all, there are several products related with Fast DDS. Please, open the issue in the corresponding repository:
- Fast DDS documentation
- Fast DDS-Gen
- Foonathan memory vendor
- Fast CDR
- Shapes Demo
- ROS 2 Fast DDS RMW
- Fast DDS Statistics Backend
- Fast DDS Monitor
- DDS Router
Also, this project classifies user issues in the following categories. Please, help us giving you a better support by opening your issue in the corresponding category.
Issues
Fast DDS issues are understood as bug reports and may be opened by anyone here. Consequently, this section handles malfunctions in the current documented behavior of the library or non-compliances to the DDS specification. If you are unsure on whether your experienced behavior falls into this category, please open a ticket in the Support discussion forum and, if it is a malfunction, an issue will be opened on your behalf with the provided report.
An issue template is provided and it is really appreciated if all related information is provided so the issue may be reproduced.
Otherwise, more information could be required in order to reproduce and solve the issue.
If this is the case, the issue will be labeled with need more info.
Please, be advised that in case that no response is received within a month, the issue would be closed due to inactivity.
The issue may be reopened if the required information is provided.
Feature request
Feature requests and improvements suggestions should be opened in the Ideas discussion forum. Please, remember to select the corresponging category while opening the discussion. It is also encouraged to contact directly with eProsima support team for a feature evaluation.
Q&A
Questions about eProsima Fast DDS behavior and features should be opened in the Q&A (Questions & Answers) discussion forum. Please, remember to select the correct category while opening the discussion. It is strongly advised to first consult eProsima Fast DDS documentation and previous Q&A in the forum.
Support
Most user issues would fall in this category. eProsima Fast DDS provides a lot of features and tuning the library for optimal behavior for each use case is not an easy task. These issues should be opened in the Support discussion forum. Please, remember to select the corresponding category while opening the discussion. Please, take into account that eProsima Fast DDS provides official support for the Tier 1 platforms, architectures and compilers defined here. Any other support should be opened in the next section: Unofficial support
Unofficial support
Any issue related with a non-officially supported platform, architecture and/or compiler should be opened in the Unofficial support discussion forum. Please, remember to select the corresponding category while opening the discussion. If official support is wanted for any platform, architecture and/or compiler, please contact directly with eProsima support team for an evaluation.